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farmbot-arduino-firmware
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reverse direction homing

pull/2/head
TimEvWw 2014-07-15 21:19:06 -01:00
parent 012116f225
commit dc93740186
3 changed files with 40 additions and 30 deletions
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5
src/Config.h
View File

@ -15,4 +15,9 @@ const unsigned int MAX_ACCELERATION_STEPS_PER_SECOND = 2;
const unsigned int HOME_MOVEMENT_SPEED_S_P_S = 200;
const unsigned int INVERT_ENDSTOPS = 1;
const bool AXIS_HOME_FORWARD_X = false;
const bool AXIS_HOME_FORWARD_Y = false;
const bool AXIS_HOME_FORWARD_Z = true;
#endif /* CONFIG_H_ */

57
src/StepperControl.cpp
View File

@ -13,8 +13,8 @@ StepperControl * StepperControl::getInstance() {
StepperControl::StepperControl() {
}
unsigned int getMaxLength(unsigned int lengths[3]) {
unsigned int max = lengths[0];
unsigned long getMaxLength(unsigned long lengths[3]) {
unsigned long max = lengths[0];
for (int i = 1; i < 3; i++) {
if (lengths[i] > max) {
max = lengths[i];
@ -23,8 +23,8 @@ unsigned int getMaxLength(unsigned int lengths[3]) {
return max;
}
void step(int axis, unsigned int &currentPoint, unsigned int steps,
unsigned int destinationPoint) {
void step(int axis, long &currentPoint, unsigned int steps,
long destinationPoint) {
if (currentPoint < destinationPoint) {
currentPoint += steps;
} else if (currentPoint > destinationPoint) {
@ -46,8 +46,8 @@ void step(int axis, unsigned int &currentPoint, unsigned int steps,
}
}
bool pointReached(unsigned int currentPoint[3],
unsigned int destinationPoint[3]) {
bool pointReached(long currentPoint[3],
long destinationPoint[3]) {
for (int i = 0; i < 3; i++) {
if (destinationPoint[i] != currentPoint[i]) {
return false;
@ -101,7 +101,7 @@ void enableMotors(bool enable) {
}
}
void setDirections(unsigned int* currentPoint, unsigned int* destinationPoint) {
void setDirections(long* currentPoint, long* destinationPoint) {
if (currentPoint[0] < destinationPoint[0]) {
digitalWrite(X_DIR_PIN, HIGH);
} else {
@ -119,7 +119,7 @@ void setDirections(unsigned int* currentPoint, unsigned int* destinationPoint) {
}
}
unsigned int getLength(unsigned int l1,unsigned int l2) {
unsigned long getLength(long l1, long l2) {
if(l1 > l2) {
return l1 - l2;
} else {
@ -134,13 +134,13 @@ unsigned int getLength(unsigned int l1,unsigned int l2) {
* maxStepsPerSecond - maximum number of steps per second
* maxAccelerationStepsPerSecond - maximum number of acceleration in steps per second
*/
int StepperControl::moveAbsolute(unsigned int xDest, unsigned int yDest,
unsigned int zDest, unsigned int maxStepsPerSecond,
int StepperControl::moveAbsolute(long xDest, long yDest,
long zDest, unsigned int maxStepsPerSecond,
unsigned int maxAccelerationStepsPerSecond) {
unsigned int currentPoint[3] = { CurrentState::getInstance()->getX(),
long currentPoint[3] = { CurrentState::getInstance()->getX(),
CurrentState::getInstance()->getY(),
CurrentState::getInstance()->getZ() };
unsigned int destinationPoint[3] = { xDest, yDest, zDest };
long destinationPoint[3] = { xDest, yDest, zDest };
Serial.print("Destination point:");
Serial.print(destinationPoint[0]);
@ -156,10 +156,10 @@ int StepperControl::moveAbsolute(unsigned int xDest, unsigned int yDest,
Serial.println(currentPoint[2]);
unsigned int movementLength[3] = { getLength(destinationPoint[0], currentPoint[0]),
unsigned long movementLength[3] = { getLength(destinationPoint[0], currentPoint[0]),
getLength(destinationPoint[1], currentPoint[1]),
getLength(destinationPoint[2], currentPoint[2])};
unsigned int maxLenth = getMaxLength(movementLength);
unsigned long maxLenth = getMaxLength(movementLength);
double lengthRatio[3] = { 1.0 * movementLength[0] / maxLenth, 1.0
* movementLength[1] / maxLenth, 1.0 * movementLength[2] / maxLenth };
Serial.print("Max length:");
@ -323,25 +323,26 @@ int reportEndStops() {
* maxStepsPerSecond - maximum number of steps per second
* maxAccelerationStepsPerSecond - maximum number of acceleration in steps per second
*/
int StepperControl::moveAbsoluteConstant(unsigned int xDest, unsigned int yDest,
unsigned int zDest, unsigned int maxStepsPerSecond, bool home) {
int StepperControl::moveAbsoluteConstant(long xDest, long yDest,
long zDest, unsigned int maxStepsPerSecond, bool home) {
unsigned int currentPoint[3] = { CurrentState::getInstance()->getX(),
long currentPoint[3] = { CurrentState::getInstance()->getX(),
CurrentState::getInstance()->getY(),
CurrentState::getInstance()->getZ() };
unsigned int destinationPoint[3] = { xDest, yDest, zDest };
long destinationPoint[3] = { xDest, yDest, zDest };
unsigned int movementLength[3] = { getLength(destinationPoint[0], currentPoint[0]),
unsigned long movementLength[3] = { getLength(destinationPoint[0], currentPoint[0]),
getLength(destinationPoint[1], currentPoint[1]),
getLength(destinationPoint[2], currentPoint[2])};
unsigned int maxLenth = getMaxLength(movementLength);
unsigned long maxLenth = getMaxLength(movementLength);
double lengthRatio[3] = { 1.0 * movementLength[0] / maxLenth, 1.0
* movementLength[1] / maxLenth, 1.0 * movementLength[2] / maxLenth };
bool homeMoveReverse[3] = { AXIS_HOME_FORWARD_X, AXIS_HOME_FORWARD_Y, AXIS_HOME_FORWARD_Z };
unsigned int currentMillis = 0;
unsigned int currentStepsPerSecond = maxStepsPerSecond;
unsigned int currentSteps = 0;
unsigned int lastStepMillis[3] = { 0, 0, 0 };
unsigned long currentMillis = 0;
unsigned long currentStepsPerSecond = maxStepsPerSecond;
unsigned long currentSteps = 0;
unsigned long lastStepMillis[3] = { 0, 0, 0 };
/*
@ -376,7 +377,7 @@ int StepperControl::moveAbsoluteConstant(unsigned int xDest, unsigned int yDest,
forwardMovement = (currentPoint[i] < destinationPoint[i]);
if (home){
// When home is active, keep moving until end point reached
forwardMovement = false;
forwardMovement = homeMoveReverse[i];
}
if (!endStopAxisReached(i, forwardMovement))
{
@ -389,7 +390,11 @@ int StepperControl::moveAbsoluteConstant(unsigned int xDest, unsigned int yDest,
currentMillis - lastStepMillis[i] >
1000 / HOME_MOVEMENT_SPEED_S_P_S
) {
unsigned int curVal = 1;
long curVal = 1;
if (homeMoveReverse[i] == true)
{
curVal = -1;
}
step(i, curVal, 1, 0);
stepMade = true;
lastStepMillis[i] = currentMillis;

8
src/StepperControl.h
View File

@ -18,11 +18,11 @@
class StepperControl {
public:
static StepperControl* getInstance();
int moveAbsolute(unsigned int xDest, unsigned int yDest,
unsigned int zDest, unsigned int maxStepsPerSecond,
int moveAbsolute(long xDest, long yDest,
long zDest, unsigned int maxStepsPerSecond,
unsigned int maxAccelerationStepsPerSecond);
int moveAbsoluteConstant(unsigned int xDest, unsigned int yDest,
unsigned int zDest, unsigned int maxStepsPerSecond, bool home);
int moveAbsoluteConstant(long xDest, long yDest,
long zDest, unsigned int maxStepsPerSecond, bool home);
private:
StepperControl();
StepperControl(StepperControl const&);