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farmbot-arduino-firmware
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debugging writing of encoder parameter writing

pull/33/head
TimEvWw 2016-01-04 20:52:58 -01:00
parent 1352bc751e
commit 96b8608db1
4 changed files with 38 additions and 29 deletions
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10
src/Config.h
View File

@ -71,15 +71,15 @@ const long ENCODER_MISSED_STEPS_MAX_X_DEFAULT = 10;
const long ENCODER_MISSED_STEPS_MAX_Y_DEFAULT = 10;
const long ENCODER_MISSED_STEPS_MAX_Z_DEFAULT = 10;
// How much a good step is substracted from the missed step total (1-10)
const long ENCODER_MISSED_STEPS_DECAY_X_DEFAULT = 1;
const long ENCODER_MISSED_STEPS_DECAY_Y_DEFAULT = 1;
const long ENCODER_MISSED_STEPS_DECAY_Z_DEFAULT = 1;
// How much a good step is substracted from the missed step total (1-99)
const long ENCODER_MISSED_STEPS_DECAY_X_DEFAULT = 10;
const long ENCODER_MISSED_STEPS_DECAY_Y_DEFAULT = 10;
const long ENCODER_MISSED_STEPS_DECAY_Z_DEFAULT = 10;
const long STATUS_GENERAL_DEFAULT = 0;
const String SOFTWARE_VERSION = "GENESIS V.01.04";
const String SOFTWARE_VERSION = "GENESIS V.01.05";
#endif /* CONFIG_H_ */

11
src/ParameterList.cpp
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@ -112,10 +112,11 @@ bool ParameterList::validParam(int id) {
int ParameterList::writeValue(int id, long value) {
if (validParam(id)) {
Serial.print("R99 param accepted \n");
paramValues[id] = value;
}
/*
Serial.print("R99");
Serial.print(" ");
Serial.print("writeValue");
@ -128,7 +129,7 @@ int ParameterList::writeValue(int id, long value) {
Serial.print(" ");
Serial.print(value);
Serial.print("\n");
*/
return 0;
}
@ -154,16 +155,16 @@ int ParameterList::readValue(int id) {
long ParameterList::getValue(int id) {
/*
Serial.print("R99");
Serial.print(" ");
Serial.print("getValue");
Serial.print(" id ");
Serial.print(id);
Serial.print(" value");
Serial.print(" value ");
Serial.print(paramValues[id]);
Serial.print("\n");
*/
return paramValues[id];
}

24
src/ParameterList.h
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@ -44,22 +44,22 @@ enum ParamListEnum
MOVEMENT_MAX_SPD_Z = 73,
// encoder settings
ENCODER_ENABLED_X = 701,
ENCODER_ENABLED_Y = 702,
ENCODER_ENABLED_Z = 703,
ENCODER_ENABLED_X = 101,
ENCODER_ENABLED_Y = 102,
ENCODER_ENABLED_Z = 103,
ENCODER_MISSED_STEPS_MAX_X = 711,
ENCODER_MISSED_STEPS_MAX_Y = 712,
ENCODER_MISSED_STEPS_MAX_Z = 713,
ENCODER_MISSED_STEPS_MAX_X = 111,
ENCODER_MISSED_STEPS_MAX_Y = 112,
ENCODER_MISSED_STEPS_MAX_Z = 113,
ENCODER_MISSED_STEPS_DECAY_X = 721,
ENCODER_MISSED_STEPS_DECAY_Y = 722,
ENCODER_MISSED_STEPS_DECAY_Z = 723,
ENCODER_MISSED_STEPS_DECAY_X = 121,
ENCODER_MISSED_STEPS_DECAY_Y = 122,
ENCODER_MISSED_STEPS_DECAY_Z = 123,
// not used in software at this time
MOVEMENT_AXIS_NR_STEPS_X = 801,
MOVEMENT_AXIS_NR_STEPS_Y = 802,
MOVEMENT_AXIS_NR_STEPS_Z = 803
MOVEMENT_AXIS_NR_STEPS_X = 141,
MOVEMENT_AXIS_NR_STEPS_Y = 142,
MOVEMENT_AXIS_NR_STEPS_Z = 143
};

22
src/StepperControl.cpp
View File

@ -671,7 +671,7 @@ void StepperControl::checkAxisVsEncoder(StepperControlAxis* axis, StepperControl
// If a step is done
//if (axis->isStepDone() && axis->currentPosition() % 3 == 0) {
if (encoderEnabled && axis->isStepDone()) {
if (*encoderEnabled && axis->isStepDone()) {
bool stepMissed = false;
@ -814,13 +814,17 @@ void StepperControl::loadEncoderSettings() {
motorConsMissedStepsMax[1] = ParameterList::getInstance()->getValue(ENCODER_MISSED_STEPS_MAX_Y);
motorConsMissedStepsMax[2] = ParameterList::getInstance()->getValue(ENCODER_MISSED_STEPS_MAX_Z);
motorConsMissedStepsDecay[0] = ParameterList::getInstance()->getValue(ENCODER_MISSED_STEPS_DECAY_X) / 10;
motorConsMissedStepsDecay[1] = ParameterList::getInstance()->getValue(ENCODER_MISSED_STEPS_DECAY_Y) / 10;
motorConsMissedStepsDecay[2] = ParameterList::getInstance()->getValue(ENCODER_MISSED_STEPS_DECAY_Z) / 10;
motorConsMissedStepsDecay[0] = ParameterList::getInstance()->getValue(ENCODER_MISSED_STEPS_DECAY_X);
motorConsMissedStepsDecay[1] = ParameterList::getInstance()->getValue(ENCODER_MISSED_STEPS_DECAY_Y);
motorConsMissedStepsDecay[2] = ParameterList::getInstance()->getValue(ENCODER_MISSED_STEPS_DECAY_Z);
motorConsMissedStepsDecay[0] = min(max(motorConsMissedStepsDecay[0],0.1),1);
motorConsMissedStepsDecay[1] = min(max(motorConsMissedStepsDecay[1],0.1),1);
motorConsMissedStepsDecay[2] = min(max(motorConsMissedStepsDecay[2],0.1),1);
motorConsMissedStepsDecay[0] = motorConsMissedStepsDecay[0] / 100;
motorConsMissedStepsDecay[1] = motorConsMissedStepsDecay[1] / 100;
motorConsMissedStepsDecay[2] = motorConsMissedStepsDecay[2] / 100;
motorConsMissedStepsDecay[0] = min(max(motorConsMissedStepsDecay[0],0.01),99);
motorConsMissedStepsDecay[1] = min(max(motorConsMissedStepsDecay[1],0.01),99);
motorConsMissedStepsDecay[2] = min(max(motorConsMissedStepsDecay[2],0.01),99);
if (ParameterList::getInstance()->getValue(ENCODER_ENABLED_X) == 1) {
motorConsEncoderEnabled[0] = true;
@ -828,6 +832,10 @@ void StepperControl::loadEncoderSettings() {
motorConsEncoderEnabled[0] = false;
}
Serial.print("R99 encoder enabled x: ");
Serial.print(motorConsEncoderEnabled[0]);
Serial.print("\n");
if (ParameterList::getInstance()->getValue(ENCODER_ENABLED_Y) == 1) {
motorConsEncoderEnabled[1] = true;
} else {