spacecruft
/
farmbot-arduino-firmware
1
0
Fork 0
Code Issues Pull Requests Releases Activity

Merge pull request #14 from TimEvWw/master 

Emergency stop
pull/30/head
Tim Evers 2014-10-25 00:05:02 +02:00
parent 4df22031b5 b4533e893d
commit e0c9ce4e55
1 changed files with 33 additions and 62 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

95
src/StepperControl.cpp
View File

@ -282,27 +282,6 @@ void setDirections(long* currentPoint, long* destinationPoint, bool* homeAxis, b
setDirectionAxis(X_DIR_PIN, currentPoint[0], destinationPoint[0], homeAxis[0], homeIsUp[0], motorInv[0]);
setDirectionAxis(Y_DIR_PIN, currentPoint[1], destinationPoint[1], homeAxis[1], homeIsUp[1], motorInv[1]);
setDirectionAxis(Z_DIR_PIN, currentPoint[2], destinationPoint[2], homeAxis[2], homeIsUp[2], motorInv[2]);
/*
//if (currentPoint[0] < destinationPoint[0]) {
if (((!homeAxis[0] && currentPoint[0] < destinationPoint[0]) || (homeAxis[0] && homeIsUp[0])) ^ motorInv[0]) {
digitalWrite(X_DIR_PIN, HIGH);
} else {
digitalWrite(X_DIR_PIN, LOW);
}
//if (currentPoint[1] < destinationPoint[1]) {
if (((!homeAxis[1] && currentPoint[1] < destinationPoint[1]) || (homeAxis[1] && homeIsUp[1])) ^ motorInv[1]) {
digitalWrite(Y_DIR_PIN, HIGH);
} else {
digitalWrite(Y_DIR_PIN, LOW);
}
//if (currentPoint[2] < destinationPoint[2]) {
if (((!homeAxis[2] && currentPoint[2] < destinationPoint[2]) || (homeAxis[2] && homeIsUp[2])) ^ motorInv[2]) {
digitalWrite(Z_DIR_PIN, HIGH);
} else {
digitalWrite(Z_DIR_PIN, LOW);
}
*/
}
unsigned long getLength(long l1, long l2) {
@ -429,8 +408,8 @@ int StepperControl::moveAbsoluteConstant( long xDest, long yDest, long zDest,
bool movementToHome = false;
bool moving = false;
bool stepMade = false;
int axisSpeed = 0;
int incomingByte = 0;
int axisSpeed = 0;
int error = 0;
// if a speed is given in the command, use that instead of the config speed
@ -458,7 +437,6 @@ int StepperControl::moveAbsoluteConstant( long xDest, long yDest, long zDest,
// Limit normal movmement to the home position
for (int i = 0; i < 3; i++) {
if (!homeIsUp[i] && destinationPoint[i] < 0) {
destinationPoint[i] = 0;
}
@ -474,11 +452,19 @@ int StepperControl::moveAbsoluteConstant( long xDest, long yDest, long zDest,
storeEndStops();
// Check if there is an emergency stop command
if (Serial.available() > 0) {
incomingByte = Serial.read();
if (incomingByte == 69 || incomingByte == 101) {
movementDone = true;
}
}
stepMade = false;
moving = false;
// Keep moving until destination reached or while moving home and end stop not reached
if (!pointReached(currentPoint, destinationPoint) || home) {
if ((!pointReached(currentPoint, destinationPoint) || home) && !movementDone) {
// Check each axis
for (int i = 0; i < 3; i++) {
@ -585,25 +571,6 @@ int StepperControl::moveAbsoluteConstant( long xDest, long yDest, long zDest,
int StepperControl::calibrateAxis(int axis) {
// long sourcePoint[3] = { CurrentState::getInstance()->getX(),
// CurrentState::getInstance()->getY(),
// CurrentState::getInstance()->getZ() };
// long currentPoint[3] = { CurrentState::getInstance()->getX(),
// CurrentState::getInstance()->getY(),
// CurrentState::getInstance()->getZ() };
// long destinationPoint[3] = { xDest, yDest, zDest };
// unsigned long movementLength[3] = { getLength(destinationPoint[0], currentPoint[0]),
// getLength(destinationPoint[1], currentPoint[1]),
// getLength(destinationPoint[2], currentPoint[2])};
// unsigned long maxLenth = getMaxLength(movementLength);
// double lengthRatio[3] = { 1.0 * movementLength[0] / maxLenth,
// 1.0 * movementLength[1] / maxLenth,
// 1.0 * movementLength[2] / maxLenth };
int parMotInv[3] = { 31, 32, 33};
int parEndInv[3] = { 21, 22, 23};
int parNbrStp[3] = {801,802,803};
@ -622,13 +589,6 @@ int StepperControl::calibrateAxis(int axis) {
long timeOut[3] = {5000,5000,5000};
// long speedMinLst[3] = { ParameterList::getInstance()->getValue(MOVEMENT_MIN_SPD_X),
// ParameterList::getInstance()->getValue(MOVEMENT_MIN_SPD_Y),
// ParameterList::getInstance()->getValue(MOVEMENT_MIN_SPD_Z) };
// long speedMin = speedMinLst[axis];
long stepPin[3] = { X_STEP_PIN,
Y_STEP_PIN,
Z_STEP_PIN };
@ -642,14 +602,6 @@ int StepperControl::calibrateAxis(int axis) {
long sourcePoint[3] = { 0, 0, 0 };
long destinationPoint[3] = { 0, 0, 0 };
// long destinationPoint[3] = { xDest, yDest, zDest };
// long timeOut[3] = { ParameterList::getInstance()->getValue(MOVEMENT_TIMEOUT_X),
// ParameterList::getInstance()->getValue(MOVEMENT_TIMEOUT_X),
// ParameterList::getInstance()->getValue(MOVEMENT_TIMEOUT_X) };
unsigned long currentMillis = 0;
unsigned long currentSteps = 0;
@ -662,7 +614,7 @@ int StepperControl::calibrateAxis(int axis) {
int paramValueInt = 0;
bool invertEndStops = false;
int stepsCount = 0;
int incomingByte = 0;
int error = 0;
@ -697,8 +649,17 @@ Serial.print("\n");
while (!movementDone && error == 0) {
// Check if there is an emergency stop command
if (Serial.available() > 0) {
incomingByte = Serial.read();
if (incomingByte == 69 || incomingByte == 101) {
movementDone = true;
error = 1;
}
}
// Move until the end stop for home position is reached
if (!endStopMin(axis) && !endStopMax(axis)) {
if ((!endStopMin(axis) && !endStopMax(axis)) && !movementDone) {
if (millis() - timeStart > timeOut[axis] * MOVEMENT_SPEED_BASE_TIME) {
movementDone = true;
@ -785,8 +746,18 @@ Serial.print("\n");
while (!movementDone && error == 0) {
// Check if there is an emergency stop command
if (Serial.available() > 0) {
incomingByte = Serial.read();
if (incomingByte == 69 || incomingByte == 101) {
movementDone = true;
error = 1;
}
}
// Move until the end stop at the other side of the axis is reached
if ((!invertEndStops && !endStopMax(axis)) || (invertEndStops && !endStopMin(axis))) {
if (((!invertEndStops && !endStopMax(axis)) || (invertEndStops && !endStopMin(axis))) && !movementDone) {
if (millis() - timeStart > timeOut[axis] * MOVEMENT_SPEED_BASE_TIME) {
movementDone = true;