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This commit is contained in:
Marc-Antoine Lafreniere
2019-04-10 01:06:24 -04:00
parent a12c9fe083
commit e1e0ca6fa4
2 changed files with 33 additions and 6 deletions
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38
devicesoftware/GcodeInterpreter/GcodeInterpreter.ino
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@@ -69,8 +69,8 @@ bool homingY = false;
bool homingZ = false; bool homingZ = false;
int homingState = 0; int homingState = 0;
const int homeOffsetX = /*28*/48*tickFromMm; const int homeOffsetX = /*28*/50*tickFromMm;
const int homeOffsetY = /*19.5*/40*tickFromMm; const int homeOffsetY = /*19.5*/50*tickFromMm;
const int homeOffsetZ = 2.5*tickFromMm; const int homeOffsetZ = 2.5*tickFromMm;
// Debounce timer variables // Debounce timer variables
@@ -90,6 +90,11 @@ bool isXSwitchPress = false;
bool isYSwitchPress = false; bool isYSwitchPress = false;
bool isZSwitchPress = false; bool isZSwitchPress = false;
// eStop
bool ledX = false;
bool ledY = false;
bool ledZ = false;
// Moving variables // Moving variables
bool isMoving = false; bool isMoving = false;
bool currentMoveDone = false; bool currentMoveDone = false;
@@ -97,6 +102,7 @@ bool hasFailed = false;
int currentMove = 0; int currentMove = 0;
int nbsMovements = 0; int nbsMovements = 0;
int32_t currentPosition = 0; int32_t currentPosition = 0;
int32_t movingSpeed[] = { 75, 75 };
MovingCommand commands[3]; MovingCommand commands[3];
// Initialisation : // Initialisation :
@@ -135,7 +141,9 @@ void setup()
dxl_wb.writeRegister(idX, 10, 1, &X_REVERSE, &NULL_POINTER); dxl_wb.writeRegister(idX, 10, 1, &X_REVERSE, &NULL_POINTER);
dxl_wb.writeRegister(idY, 10, 1, &Y_REVERSE, &NULL_POINTER); dxl_wb.writeRegister(idY, 10, 1, &Y_REVERSE, &NULL_POINTER);
dxl_wb.writeRegister(idZ, 10, 1, &Z_REVERSE, &NULL_POINTER); dxl_wb.writeRegister(idZ, 10, 1, &Z_REVERSE, &NULL_POINTER);
Write(idX, movingSpeed[0], "Profile_Velocity");
Write(idY, movingSpeed[1], "Profile_Velocity");
Torque_on(idX); Torque_on(idX);
Torque_on(idY); Torque_on(idY);
@@ -173,7 +181,10 @@ void loop()
Write(commands[currentMove]._motorId, commands[currentMove]._goalPosition, GOAL_POSITION); Write(commands[currentMove]._motorId, commands[currentMove]._goalPosition, GOAL_POSITION);
} }
else else
{
isEmegencyState = true; isEmegencyState = true;
ledX = true;
}
} }
} }
else else
@@ -206,7 +217,10 @@ void loop()
Write(commands[currentMove]._motorId, commands[currentMove]._goalPosition, GOAL_POSITION); Write(commands[currentMove]._motorId, commands[currentMove]._goalPosition, GOAL_POSITION);
} }
else else
{
isEmegencyState = true; isEmegencyState = true;
ledY = true;
}
} }
} }
else else
@@ -239,7 +253,10 @@ void loop()
Write(commands[currentMove]._motorId, commands[currentMove]._goalPosition, GOAL_POSITION); Write(commands[currentMove]._motorId, commands[currentMove]._goalPosition, GOAL_POSITION);
} }
else else
{
isEmegencyState = true; isEmegencyState = true;
ledZ = true;
}
} }
} }
else else
@@ -329,6 +346,9 @@ void loop()
homing = false; homing = false;
Serial.println(homingState == 3 ? "1" : "-1"); Serial.println(homingState == 3 ? "1" : "-1");
homingState = 0; homingState = 0;
Write(idX, movingSpeed[0], "Profile_Velocity");
Write(idY, movingSpeed[1], "Profile_Velocity");
} }
resetMovingVariables(); resetMovingVariables();
} }
@@ -521,9 +541,15 @@ void setEmergency()
{ {
isMoving = false; isMoving = false;
TorqueOffAll(); TorqueOffAll();
Led(idX, digitalRead(xSwitchPin)); Led(idX, ledX);
Led(idY, digitalRead(ySwitchPin)); Led(idY, ledY);
Led(idZ, digitalRead(zSwitchPin)); Led(idZ, ledZ);
}
void changeMode(uint8_t id)
{
Write(id, 4, OPERATING_MODE);
//Write(id, movingSpeed[id-idX], "Profile_Velocity");
} }

1
devicesoftware/GcodeInterpreter/functions.h
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@@ -18,5 +18,6 @@ void HomingAxis(uint8_t id, int speed);
uint8_t getIdFromChar(char letter); uint8_t getIdFromChar(char letter);
bool isInRange(int curPos, int goal); bool isInRange(int curPos, int goal);
void resetMovingVariables(); void resetMovingVariables();
void changeMode(uint8_t id);
#endif #endif