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farmbot-arduino-firmware
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debugging axis class

pull/29/head
TimEvWw 2015-08-12 20:23:21 -01:00
parent cc0be05174
commit 890ff84385
4 changed files with 61 additions and 98 deletions
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1
src/G00Handler.cpp
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@ -44,6 +44,7 @@ int G00Handler::execute(Command* command) {
command->getX(), command->getY(), command->getZ(),
command->getA(), command->getB(), command->getC(),
false, false, false);
if (LOGGING) {
CurrentState::getInstance()->print();
}

64
src/StepperControl.cpp
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@ -14,13 +14,20 @@ StepperControl * StepperControl::getInstance() {
const int MOVEMENT_INTERRUPT_SPEED = 100; // Interrupt cycle in micro seconds
StepperControl::StepperControl() {
axisX = StepperControlAxis();
axisY = StepperControlAxis();
axisZ = StepperControlAxis();
axisX.label = 'X';
axisY.label = 'Y';
axisZ.label = 'Z';
axisX.loadPinNumbers(X_STEP_PIN, X_DIR_PIN, X_ENABLE_PIN, X_MIN_PIN, X_MAX_PIN);
axisY.loadPinNumbers(Y_STEP_PIN, Y_DIR_PIN, Y_ENABLE_PIN, Y_MIN_PIN, Y_MAX_PIN);
axisZ.loadPinNumbers(Z_STEP_PIN, Z_DIR_PIN, Z_ENABLE_PIN, Z_MIN_PIN, Z_MAX_PIN);
loadMotorSettings();
}
/**
@ -37,7 +44,6 @@ int StepperControl::moveToCoords( long xDest, long yDest, long zDest,
unsigned long currentMillis = 0;
unsigned long timeStart = millis();
int incomingByte = 0;
int error = 0;
@ -47,11 +53,6 @@ int StepperControl::moveToCoords( long xDest, long yDest, long zDest,
// if a speed is given in the command, use that instead of the config speed
long speedMax[3] = {0,0,0};
speedMax[0] = xMaxSpd;
speedMax[1] = yMaxSpd;
speedMax[2] = zMaxSpd;
if (xMaxSpd > 0 && xMaxSpd < speedMax[0]) {
speedMax[0] = xMaxSpd;
}
@ -64,7 +65,6 @@ int StepperControl::moveToCoords( long xDest, long yDest, long zDest,
speedMax[2] = zMaxSpd;
}
axisX.setMaxSpeed(speedMax[0]);
axisY.setMaxSpeed(speedMax[1]);
axisZ.setMaxSpeed(speedMax[2]);
@ -94,13 +94,14 @@ int StepperControl::moveToCoords( long xDest, long yDest, long zDest,
// Prepare for movement
//axisX.setDirection()
//axisY.setDirection()
//axisZ.setDirection()
storeEndStops();
reportEndStops();
axisX.setDirectionAxis();
axisY.setDirectionAxis();
axisZ.setDirectionAxis();
enableMotors();
// Start movement
@ -109,9 +110,13 @@ int StepperControl::moveToCoords( long xDest, long yDest, long zDest,
axisActive[1] = true;
axisActive[2] = true;
//axisActive[0] = false;
axisActive[1] = false;
axisActive[2] = false;
axisX.checkMovement();
// axisY.checkMovement();
// axisZ.checkMovement();
//axisY.checkMovement();
//axisZ.checkMovement();
//Timer1.start();
@ -120,19 +125,19 @@ int StepperControl::moveToCoords( long xDest, long yDest, long zDest,
//delay(50);
delayMicroseconds(100);
/*
Serial.print("R99 ");
Serial.print(" x axis active ");
Serial.print(axisActive[0]);
Serial.print(" y axis active ");
Serial.print(axisActive[1]);
Serial.print(" z axis active ");
Serial.print(axisActive[2]);
Serial.print("\n");
*/
// Serial.print("R99 ");
// Serial.print(" x axis active ");
// Serial.print(axisActive[0]);
// Serial.print(" y axis active ");
// Serial.print(axisActive[1]);
// Serial.print(" z axis active ");
// Serial.print(axisActive[2]);
// Serial.print("\n");
axisX.checkTiming();
axisY.checkTiming();
axisZ.checkTiming();
//axisY.checkTiming();
//axisZ.checkTiming();
axisActive[0] = axisX.isAxisActive();
axisActive[1] = axisY.isAxisActive();
@ -180,9 +185,9 @@ int StepperControl::moveToCoords( long xDest, long yDest, long zDest,
}
/**/Serial.print("R99 stopped\n");
Serial.print("R99 stopped\n");
Timer1.stop();
//Timer1.stop();
disableMotors();
currentPoint[0] = axisX.currentPoint();
@ -615,4 +620,9 @@ void StepperControl::loadMotorSettings() {
timeOut[0] = ParameterList::getInstance()->getValue(MOVEMENT_TIMEOUT_X);
timeOut[1] = ParameterList::getInstance()->getValue(MOVEMENT_TIMEOUT_X);
timeOut[2] = ParameterList::getInstance()->getValue(MOVEMENT_TIMEOUT_X);
axisX.loadMotorSettings(speedMax[0], speedMin[0], stepsAcc[0], timeOut[0], homeIsUp[0], motorInv[0], endStInv[0], MOVEMENT_INTERRUPT_SPEED);
axisY.loadMotorSettings(speedMax[1], speedMin[1], stepsAcc[1], timeOut[1], homeIsUp[1], motorInv[1], endStInv[1], MOVEMENT_INTERRUPT_SPEED);
axisZ.loadMotorSettings(speedMax[2], speedMin[2], stepsAcc[2], timeOut[2], homeIsUp[2], motorInv[2], endStInv[2], MOVEMENT_INTERRUPT_SPEED);
}

88
src/StepperControlAxis.cpp
View File

@ -1,7 +1,5 @@
#include "StepperControlAxis.h"
//int test = 0;
long interruptSpeed = 100;
StepperControlAxis::StepperControlAxis() {
@ -15,6 +13,12 @@ StepperControlAxis::StepperControlAxis() {
}
void StepperControlAxis::test() {
Serial.print("R99 ");
Serial.print(label);
Serial.print("\n");
}
unsigned int StepperControlAxis::calculateSpeed(long sourcePosition, long currentPosition, long destinationPosition, long minSpeed, long maxSpeed, long stepsAccDec) {
int newSpeed = 0;
@ -102,6 +106,7 @@ unsigned int StepperControlAxis::calculateSpeed(long sourcePosition, long curren
}
void StepperControlAxis::checkAxisDirection() {
if (coordHomeAxis){
// When home is active, the direction is fixed
movementUp = motorHomeIsUp;
@ -129,62 +134,16 @@ void StepperControlAxis::setDirectionAxis() {
void StepperControlAxis::checkMovement() {
int i = 1;
//moveTicks[i]++;
checkAxisDirection();
Serial.print("R99 check axis ");
Serial.print(axisActive);
Serial.print(" current point ");
Serial.print(coordCurrentPoint);
Serial.print(" destination point ");
Serial.print(coordDestinationPoint);
Serial.print(" home stop reached ");
Serial.print(endStopAxisReached(false));
Serial.print(" axis stop reached ");
Serial.print(endStopAxisReached(true));
Serial.print(" home axis ");
Serial.print(coordHomeAxis);
Serial.print(" movement to home ");
Serial.print(movementToHome);
Serial.print("\n");
//if ((!pointReached(currentPoint, destinationPoint) || home) && axisActive[i]) {
if (((coordCurrentPoint != coordDestinationPoint) || coordHomeAxis) && axisActive) {
//Serial.print("R99 point not reached yet\n");
// home or destination not reached, keep moving
/*
Serial.print("R99 calc axis speed");
Serial.print(" speed max ");
Serial.print(speedMax[i]);
Serial.print("\n");
*/
// Get the axis speed, in steps per second
axisSpeed = calculateSpeed( coordSourcePoint, coordCurrentPoint, coordDestinationPoint,
motorSpeedMin, motorSpeedMax, motorStepsAcc);
//Serial.print("R99 axis speed ");
//Serial.print(axisSpeed[i]);
//Serial.print("\n");
/*
Serial.print("R99 check axis b ");
Serial.print(i);
Serial.print(" home part true ");
Serial.print(homeAxis[i] && !endStopAxisReached(i, false));
Serial.print(" !homeAxis[i] ");
Serial.print(!homeAxis[i]);
Serial.print(" !endStopAxisReached(i, !movementToHome[i]) ");
Serial.print(!endStopAxisReached(i, !movementToHome[i]));
Serial.print("\n");
*/
// If end stop reached, don't move anymore
if ((coordHomeAxis && !endStopAxisReached(false)) || (!coordHomeAxis && !endStopAxisReached(!movementToHome))) {
@ -197,7 +156,6 @@ Serial.print("\n");
// This gives the number of interrupts (called ticks here) before the pulse needs to be set for the next step
stepOnTick = moveTicks + (1000.0 * 1000.0 / interruptSpeed / axisSpeed / 2);
stepOffTick = moveTicks + (1000.0 * 1000.0 / interruptSpeed / axisSpeed );
}
}
else {
@ -213,8 +171,6 @@ Serial.print("\n");
if (endStopAxisReached(false)) {
coordCurrentPoint = 0;
}
}
void StepperControlAxis::checkTiming() {
@ -225,12 +181,7 @@ void StepperControlAxis::checkTiming() {
if (axisActive) {
if (moveTicks >= stepOffTick) {
/*
Serial.print("R99 reset step ");
Serial.print(" moveTicks ");
Serial.print(moveTicks);
Serial.print("\n");
*/
// Negative flank for the steps
resetMotorStep();
checkMovement();
@ -238,12 +189,7 @@ Serial.print("\n");
else {
if (moveTicks == stepOnTick) {
/*
Serial.print("R99 set step ");
Serial.print(" moveTicks ");
Serial.print(moveTicks);
Serial.print("\n");
*/
// Positive flank for the steps
setStepAxis();
}
@ -351,26 +297,26 @@ void StepperControlAxis::loadCoordinates(long sourcePoint, long destinationPoint
}
void StepperControlAxis::enableMotor() {
digitalWrite(pinEnable, HIGH);
digitalWrite(pinEnable, LOW);
}
void StepperControlAxis::disableMotor() {
digitalWrite(pinEnable, LOW);
digitalWrite(pinEnable, HIGH);
}
void StepperControlAxis::setDirectionUp() {
if (motorMotorInv) {
digitalWrite(pinDirection, HIGH);
} else {
digitalWrite(pinDirection, LOW);
} else {
digitalWrite(pinDirection, HIGH);
}
}
void StepperControlAxis::setDirectionDown() {
if (motorMotorInv) {
digitalWrite(pinDirection, LOW);
} else {
digitalWrite(pinDirection, HIGH);
} else {
digitalWrite(pinDirection, LOW);
}
}
@ -403,10 +349,12 @@ bool StepperControlAxis::endStopsReached() {
}
bool StepperControlAxis::endStopMin() {
//return ((digitalRead(pinMin) == motorEndStopInv) || (digitalRead(pinMax) == motorEndStopInv));
return digitalRead(pinMin);
}
bool StepperControlAxis::endStopMax() {
//return ((digitalRead(pinMin) == motorEndStopInv) || (digitalRead(pinMax) == motorEndStopInv));
return digitalRead(pinMax);
}

6
src/StepperControlAxis.h
View File

@ -46,6 +46,11 @@ public:
void setDirectionDown();
void setDirectionHome();
void setDirectionAway();
void setDirectionAxis();
void test();
char label;
private:
@ -89,7 +94,6 @@ private:
void step(long &currentPoint, unsigned long steps, long destinationPoint);
bool pointReached(long currentPoint, long destinationPoint);
unsigned int calculateSpeed(long sourcePosition, long currentPosition, long destinationPosition, long minSpeed, long maxSpeed, long stepsAccDec);
void setDirectionAxis();
unsigned long getLength(long l1, long l2);
void checkAxisDirection();