139 lines
3.8 KiB
C++
139 lines
3.8 KiB
C++
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/*
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* F13Handler.cpp
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*
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* Created on: 2014/07/21
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* Author: MattLech
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*/
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#include "F13Handler.h"
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static F13Handler *instance;
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F13Handler *F13Handler::getInstance()
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{
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if (!instance)
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{
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instance = new F13Handler();
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};
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return instance;
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};
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F13Handler::F13Handler()
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{
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}
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int F13Handler::execute(Command *command)
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{
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if (LOGGING)
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{
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Serial.print("R99 HOME Z\r\n");
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}
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Movement::getInstance()->moveToCoords(0, 0, 0, 0, 0, 0, false, false, true);
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int homeIsUp = ParameterList::getInstance()->getValue(MOVEMENT_HOME_UP_Z);
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int stepsPerMM = ParameterList::getInstance()->getValue(MOVEMENT_STEP_PER_MM_Z);
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int missedStepsMax = ParameterList::getInstance()->getValue(ENCODER_MISSED_STEPS_MAX_Z);
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#if defined(FARMDUINO_EXP_V20)
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missedStepsMax += ParameterList::getInstance()->getValue(ENCODER_MISSED_STEPS_DECAY_Z);
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#endif
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if (stepsPerMM <= 0)
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{
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missedStepsMax = 0;
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stepsPerMM = 1;
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}
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int A = 10; // move away coordinates
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int execution;
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bool emergencyStop;
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bool homingComplete = false;
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if (homeIsUp == 1)
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{
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A = -A;
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}
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int stepNr;
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double X = CurrentState::getInstance()->getX() / (float)ParameterList::getInstance()->getValue(MOVEMENT_STEP_PER_MM_X);
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double Y = CurrentState::getInstance()->getY() / (float)ParameterList::getInstance()->getValue(MOVEMENT_STEP_PER_MM_Y);
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double Z = CurrentState::getInstance()->getZ() / (float)ParameterList::getInstance()->getValue(MOVEMENT_STEP_PER_MM_Z);
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bool firstMove = true;
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int goodConsecutiveHomings = 0;
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// After the first home, keep moving away and home back
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// until there is no deviation in positions
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while (!homingComplete)
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{
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if (firstMove)
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{
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firstMove = false;
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// Move to home position.
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Movement::getInstance()->moveToCoords(X, Y, 0, 0, 0, 0, false, false, false);
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//execution = CurrentState::getInstance()->getLastError();
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execution = 0;
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emergencyStop = CurrentState::getInstance()->isEmergencyStop();
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if (emergencyStop || execution != 0) { homingComplete = true; }
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}
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// Move away from the home position
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Movement::getInstance()->moveToCoords(X, Y, A, 0, 0, 0, false, false, false);
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//execution = CurrentState::getInstance()->getLastError();
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execution = 0;
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emergencyStop = CurrentState::getInstance()->isEmergencyStop();
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if (emergencyStop || execution != 0) { break; }
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// Home again
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Movement::getInstance()->moveToCoords(X, Y, 0, 0, 0, 0, false, false, true);
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//execution = CurrentState::getInstance()->getLastError();
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execution = 0;
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emergencyStop = CurrentState::getInstance()->isEmergencyStop();
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if (emergencyStop || execution != 0) { break; }
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Serial.print("R99 homing displaced");
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Serial.print(" X ");
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Serial.print(CurrentState::getInstance()->getHomeMissedStepsX());
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Serial.print(" / ");
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Serial.print(CurrentState::getInstance()->getHomeMissedStepsXscaled());
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Serial.print(" Y ");
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Serial.print(CurrentState::getInstance()->getHomeMissedStepsY());
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Serial.print(" / ");
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Serial.print(CurrentState::getInstance()->getHomeMissedStepsYscaled());
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Serial.print(" Z ");
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Serial.print(CurrentState::getInstance()->getHomeMissedStepsZ());
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Serial.print(" / ");
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Serial.print(CurrentState::getInstance()->getHomeMissedStepsZscaled());
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Serial.print("\r\n");
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// Compare postition before and after verify homing
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if (CurrentState::getInstance()->getHomeMissedStepsZscaled() < (20 + (missedStepsMax * 3) / stepsPerMM))
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{
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goodConsecutiveHomings++;
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if (goodConsecutiveHomings >= 3)
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{
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homingComplete = true;
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CurrentState::getInstance()->setZ(0);
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}
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}
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else
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{
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delay(500);
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goodConsecutiveHomings = 0;
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}
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}
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if (LOGGING)
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{
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CurrentState::getInstance()->print();
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}
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return 0;
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}
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