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farmbot-arduino-firmware
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debugging

pull/3/head
TimEvWw 2014-07-25 19:32:37 -01:00
parent 4e28fa5069
commit fb3d904e30
2 changed files with 68 additions and 39 deletions
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2
src/Config.h
View File

@ -19,6 +19,8 @@ const bool AXIS_HOME_FORWARD_X = false;
const bool AXIS_HOME_FORWARD_Y = false;
const bool AXIS_HOME_FORWARD_Z = true;
const unsigned int MOVEMENT_TIMEOUT = 30;
const String SOFTWARE_VERSION = "GENESIS V.01.01";
#endif /* CONFIG_H_ */

105
src/StepperControl.cpp
View File

@ -23,7 +23,38 @@ unsigned long getMaxLength(unsigned long lengths[3]) {
return max;
}
void step(int axis, long &currentPoint, unsigned int steps,
int endStopAxisReached(int axis_nr, bool movement_forward) {
bool min_endstop = false;
bool max_endstop = false;
// for the axis to check, retrieve the end stop status
if (axis_nr == 0) {
min_endstop=(digitalRead(X_MIN_PIN) == INVERT_ENDSTOPS);
max_endstop=(digitalRead(X_MAX_PIN) == INVERT_ENDSTOPS);
}
if (axis_nr == 1) {
min_endstop=(digitalRead(Y_MIN_PIN) == INVERT_ENDSTOPS);
max_endstop=(digitalRead(Y_MAX_PIN) == INVERT_ENDSTOPS);
}
if (axis_nr == 2) {
min_endstop=(digitalRead(Z_MIN_PIN) == INVERT_ENDSTOPS);
max_endstop=(digitalRead(Z_MAX_PIN) == INVERT_ENDSTOPS);
}
// if moving forward, only check the end stop max
// for moving backwards, check only the end stop min
if((!movement_forward && min_endstop) || (movement_forward && max_endstop)) {
return 1;
}
return 0;
}
void step(int axis, long &currentPoint, unsigned long steps,
long destinationPoint) {
if (currentPoint < destinationPoint) {
currentPoint += steps;
@ -44,6 +75,14 @@ void step(int axis, long &currentPoint, unsigned int steps,
//digitalWrite(Z_STEP_PIN, LOW);
break;
}
// if the home end stop is reached, set the current position
if (endStopAxisReached(axis, false))
{
currentPoint = 0;
Serial.print("R99 end point reached\n");
}
}
bool pointReached(long currentPoint[3],
@ -247,42 +286,15 @@ int endStopsReached() {
return 0;
}
int endStopAxisReached(int axis_nr, bool movement_forward) {
bool min_endstop = false;
bool max_endstop = false;
// for the axis to check, retrieve the end stop status
if (axis_nr == 0) {
min_endstop=(digitalRead(X_MIN_PIN) == INVERT_ENDSTOPS);
max_endstop=(digitalRead(X_MAX_PIN) == INVERT_ENDSTOPS);
}
if (axis_nr == 1) {
min_endstop=(digitalRead(Y_MIN_PIN) == INVERT_ENDSTOPS);
max_endstop=(digitalRead(Y_MAX_PIN) == INVERT_ENDSTOPS);
}
if (axis_nr == 2) {
min_endstop=(digitalRead(Z_MIN_PIN) == INVERT_ENDSTOPS);
max_endstop=(digitalRead(Z_MAX_PIN) == INVERT_ENDSTOPS);
}
// if moving forward, only check the end stop max
// for moving backwards, check only the end stop min
if((!movement_forward && min_endstop) || (movement_forward && max_endstop)) {
return 1;
}
return 0;
}
void reportEndStops() {
CurrentState::getInstance()->printEndStops();
}
void reportPosition(){
CurrentState::getInstance()->printPosition();
}
void storeEndStops() {
CurrentState::getInstance()->storeEndStops();
@ -315,17 +327,25 @@ int StepperControl::moveAbsoluteConstant(long xDest, long yDest,
bool homeAxis[3] = { homeX, homeY, homeZ };
bool home = homeX || homeY || homeZ;
unsigned long currentMillis = 0;
unsigned long currentMillis = 0;
unsigned long currentStepsPerSecond = maxStepsPerSecond;
unsigned long currentSteps = 0;
unsigned long lastStepMillis[3] = { 0, 0, 0 };
unsigned long currentSteps = 0;
unsigned long lastStepMillis[3] = { 0, 0, 0 };
unsigned long timeStart = millis();
bool movementDone = false;
bool forwardMovement = true;
bool moving = false;
bool stepMade = false;
int error = 0;
Serial.print("R99 zdest ");
Serial.print(zDest);
Serial.print("\n");
storeEndStops();
reportEndStops();
enableMotors(true);
@ -345,8 +365,7 @@ int StepperControl::moveAbsoluteConstant(long xDest, long yDest,
// When home is active, keep moving until end point reached
forwardMovement = homeMoveReverse[i];
}
if (!endStopAxisReached(i, forwardMovement) && (!home || (home && homeAxis[i])))
{
if (!endStopAxisReached(i, forwardMovement) && (!home || (home && homeAxis[i]))) {
if (home && currentPoint[i] == destinationPoint[i]){
// When home is active, keep moving until end point reached
@ -382,7 +401,6 @@ int StepperControl::moveAbsoluteConstant(long xDest, long yDest,
}
}
}
}
} else {
movementDone = true;
@ -401,6 +419,14 @@ int StepperControl::moveAbsoluteConstant(long xDest, long yDest,
{
movementDone = true;
}
if (millis() - timeStart > MOVEMENT_TIMEOUT * 1000)
{
Serial.print("R99 movement timeout");
Serial.print("\n");
movementDone = true;
error = 1;
}
delayMicroseconds(500);
}
@ -416,6 +442,7 @@ int StepperControl::moveAbsoluteConstant(long xDest, long yDest,
storeEndStops();
reportEndStops();
reportPosition();
return 0;
return error;
}