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farmbot-arduino-firmware
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removing duplicate code

pull/33/head
TimEvWw 2015-12-02 21:31:29 -01:00
parent 9267bce87c
commit d7dae58992
4 changed files with 71 additions and 29 deletions
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2
src/F14Handler.cpp
View File

@ -32,9 +32,11 @@ int F14Handler::execute(Command* command) {
ret = StepperControl::getInstance()->calibrateAxis(0);
/*
if (ret == 0) {
StepperControl::getInstance()->moveToCoords(0,0,0, 0,0,0, true, false, false);
}
*/
if (LOGGING) {
CurrentState::getInstance()->print();

91
src/StepperControl.cpp
View File

@ -338,7 +338,6 @@ int StepperControl::calibrateAxis(int axis) {
loadMotorSettings();
//unsigned long timeStart = millis();
StepperControlEncoder calibEncoder;
bool movementDone = false;
@ -360,29 +359,30 @@ int StepperControl::calibrateAxis(int axis) {
storeEndStops();
reportEndStops();
// Select the right axis
StepperControlAxis calibAxis;
StepperControlAxis* calibAxis;
StepperControlEncoder* calibEncoder;
switch (axis) {
case 0:
calibAxis = axisX;
calibEncoder = encoderX;
calibAxis = &axisX;
calibEncoder = &encoderX;
parEndInv = MOVEMENT_INVERT_ENDPOINTS_X;
parNbrStp = MOVEMENT_AXIS_NR_STEPS_X;
invertEndStops = endStInv[0];
missedStepsMax = motorConsMissedStepsMax[0];
break;
case 1:
calibAxis = axisY;
calibEncoder = encoderY;
calibAxis = &axisY;
calibEncoder = &encoderY;
parEndInv = MOVEMENT_INVERT_ENDPOINTS_Y;;
parNbrStp = MOVEMENT_AXIS_NR_STEPS_Y;
invertEndStops = endStInv[1];
missedStepsMax = motorConsMissedStepsMax[1];
break;
case 2:
calibAxis = axisZ;
calibEncoder = encoderZ;
calibAxis = &axisZ;
calibEncoder = &encoderZ;
parEndInv = MOVEMENT_INVERT_ENDPOINTS_Z;
parNbrStp = MOVEMENT_AXIS_NR_STEPS_Z;
invertEndStops = endStInv[2];
@ -396,21 +396,24 @@ int StepperControl::calibrateAxis(int axis) {
// Preliminary checks
if (calibAxis.endStopMin() || calibAxis.endStopMax()) {
if (calibAxis->endStopMin() || calibAxis->endStopMax()) {
Serial.print("R99 Calibration error: end stop active before start\n");
return 1;
}
Serial.print("R99");
Serial.print(" axis ");
Serial.print(calibAxis.label);
Serial.print(calibAxis->label);
Serial.print(" calibration start");
Serial.print("\n");
// Move towards home
calibAxis.enableMotor();
calibAxis.setDirectionHome();
calibAxis->enableMotor();
calibAxis->setDirectionHome();
/**/ //calibEncoder = encoderX;
stepsCount = 0;
movementDone = false;
@ -424,11 +427,11 @@ int StepperControl::calibrateAxis(int axis) {
error = 1;
}
}
//calibEncoder = encoderX;
// Move until the end stop for home position is reached, either by end stop or motot skipping
if ((!calibAxis.endStopMin() && !calibAxis.endStopMax()) && !movementDone && (missedSteps < missedStepsMax)) {
if ((!calibAxis->endStopMin() && !calibAxis->endStopMax()) && !movementDone && (missedSteps < missedStepsMax)) {
calibAxis.setMotorStep();
calibAxis->setMotorStep();
delayMicroseconds(1000000 / speedMin[axis] /2);
@ -438,25 +441,38 @@ int StepperControl::calibrateAxis(int axis) {
// Periodically send message still active
Serial.print("R04\n");
}
calibEncoder->test();
encoderX.test();
/**/
Serial.print("R99");
Serial.print(" missed steps ");
Serial.print(missedSteps);
Serial.print(" max steps ");
Serial.print(missedStepsMax);
Serial.print(" cur pos mtr ");
Serial.print(calibAxis->currentPosition());
Serial.print(" cur pos enc ");
Serial.print(calibEncoder->currentPosition());
Serial.print("\n");
// Check the encoder for missed steps
if (calibAxis.currentPosition() != calibEncoder.currentPosition()) {
if (calibAxis->currentPosition() != calibEncoder->currentPosition()) {
missedSteps += 3;
} else {
if (missedSteps > 0) {
missedSteps--;
}
calibAxis.setCurrentPosition(calibEncoder.currentPosition());
calibAxis->setCurrentPosition(calibEncoder->currentPosition());
}
calibAxis.resetMotorStep();
calibAxis->resetMotorStep();
delayMicroseconds(1000000 / speedMin[axis] /2);
} else {
movementDone = true;
// If end stop for home is active, set the position to zero
if (calibAxis.endStopMax())
if (calibAxis->endStopMax())
{
invertEndStops = true;
}
@ -465,7 +481,7 @@ int StepperControl::calibrateAxis(int axis) {
Serial.print("R99");
Serial.print(" axis ");
Serial.print(calibAxis.label);
Serial.print(calibAxis->label);
Serial.print(" at first end stop");
Serial.print("\n");
@ -498,7 +514,7 @@ int StepperControl::calibrateAxis(int axis) {
stepsCount = 0;
movementDone = false;
missedSteps = 0;
calibAxis.setDirectionAway();
calibAxis->setDirectionAway();
while (!movementDone && error == 0) {
@ -512,9 +528,9 @@ int StepperControl::calibrateAxis(int axis) {
}
// Move until the end stop at the other side of the axis is reached
if (((!invertEndStops && !calibAxis.endStopMax()) || (invertEndStops && !calibAxis.endStopMin())) && !movementDone && (missedSteps < missedStepsMax)) {
if (((!invertEndStops && !calibAxis->endStopMax()) || (invertEndStops && !calibAxis->endStopMin())) && !movementDone && (missedSteps < missedStepsMax)) {
calibAxis.setMotorStep();
calibAxis->setMotorStep();
stepsCount++;
delayMicroseconds(1000000 / speedMin[axis] /2);
@ -527,16 +543,16 @@ int StepperControl::calibrateAxis(int axis) {
/**/
// Check the encoder for missed steps
if (calibAxis.currentPosition() != calibEncoder.currentPosition()) {
if (calibAxis->currentPosition() != calibEncoder->currentPosition()) {
missedSteps += 3;
} else {
if (missedSteps > 0) {
missedSteps--;
}
calibAxis.setCurrentPosition(calibEncoder.currentPosition());
calibAxis->setCurrentPosition(calibEncoder->currentPosition());
}
calibAxis.resetMotorStep();
calibAxis->resetMotorStep();
delayMicroseconds(1000000 / speedMin[axis] /2);
} else {
@ -547,7 +563,7 @@ int StepperControl::calibrateAxis(int axis) {
Serial.print("R99");
Serial.print(" axis ");
Serial.print(calibAxis.label);
Serial.print(calibAxis->label);
Serial.print(" at second end stop");
Serial.print("\n");
@ -564,7 +580,7 @@ int StepperControl::calibrateAxis(int axis) {
Serial.print("\n");
}
calibAxis.disableMotor();
calibAxis->disableMotor();
storeEndStops();
reportEndStops();
@ -598,6 +614,23 @@ void StepperControl::handleMovementInterrupt(void){
//axisX.checkTiming();
//axisY.checkTiming();
//axisZ.checkTiming();
checkAxisVsEncoder(&axisX, &encoderX, &motorConsMissedSteps[0]);
//checkAxisVsEncoder(&axisX, &encoderX);
//checkAxisVsEncoder(&axisX, &encoderX);
}
// Check encoder to verify the motor is at the right position
void StepperControl::checkAxisVsEncoder(StepperControlAxis* axis, StepperControlEncoder* encoder, int* missedSteps) {
if (axis->currentPosition() != encoder->currentPosition()) {
missedSteps += 3;
} else {
if (missedSteps > 0) {
missedSteps--;
}
axis->setCurrentPosition(encoder->currentPosition());
}
}
bool interruptBusy = false;

2
src/StepperControl.h
View File

@ -50,6 +50,8 @@ private:
StepperControlEncoder encoderY;
StepperControlEncoder encoderZ;
void checkAxisVsEncoder(StepperControlAxis* axis, StepperControlEncoder* encoder, int* missedSteps);
bool axisActive[3];
void loadMotorSettings();

5
src/StepperControlAxis.cpp
View File

@ -10,6 +10,11 @@ StepperControlAxis::StepperControlAxis() {
pinMax = 0;
axisActive = false;
coordSourcePoint = 0;
coordCurrentPoint = 0;
coordDestinationPoint = 0;
coordHomeAxis = 0;
}
void StepperControlAxis::test() {