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added measurement print option to calibration

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This commit is contained in:
0x23 2025-10-13 23:45:32 +02:00
parent fc0e75f15c
commit 71e59e20bb
6 changed files with 18 additions and 11 deletions
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13
firmware/MotionControllerRP/src/robot.cpp
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@ -58,7 +58,7 @@ void RobotJoint::init(int joint_idx) {
servo_controller->set_motor_enabled(false, false);
}
bool RobotJoint::calibrate() {
bool RobotJoint::calibrate(bool print_measurements) {
LOG_INFO("Joint-%i: calibrating joint...", joint_idx);
HomingController homing_controller;
@ -77,7 +77,8 @@ bool RobotJoint::calibrate() {
*servo_controller,
CALIBRATION_RANGE*DEG_TO_RAD,
CALIBRATION_FIELD_VELOCITY,
256);
256,
print_measurements);
if(!ok) {
LOG_ERROR("Joint-%i: calibrating failed", joint_idx);
return false;
@ -468,7 +469,7 @@ bool Robot::home(uint8_t joint_mask) {
return homing_successful;
}
bool Robot::calibrate_joint(int joint_idx, bool store_calibration) {
bool Robot::calibrate_joint(int joint_idx, bool store_calibration, bool print_measurements) {
if(joint_idx<0 || joint_idx >= NUM_JOINTS)
return false;
@ -478,7 +479,7 @@ bool Robot::calibrate_joint(int joint_idx, bool store_calibration) {
enable_servo_control(false);
spin_lock_unsafe_blocking(joints_spin_lock);
bool calibration_ok = joint->calibrate();
bool calibration_ok = joint->calibrate(print_measurements);
if(!calibration_ok) {
spin_unlock_unsafe(joints_spin_lock);
return false;
@ -634,6 +635,7 @@ void Robot::process_machine_command(const GCodeCommand& cmd, std::string& reply)
reply += "ok\n";
}
// print lookup table
if(cmd.get_command() == "M59") {
int idx = (int)cmd.get_value('J', 0);
joints[idx]->servo_controller->get_enc_to_pos_lut().print_to_log();
@ -776,7 +778,8 @@ void Robot::process_home_command(const GCodeCommand& cmd, std::string& reply) {
void Robot::process_calibrate_joint_command(const GCodeCommand& cmd, std::string& reply) {
int idx = cmd.get_value('J', 0);
bool store_calibration = cmd.has_word('S');
bool print_measurements = cmd.has_word('P');
bool ok = calibrate_joint(idx, store_calibration);
bool ok = calibrate_joint(idx, store_calibration, print_measurements);
reply = ok ? "ok\n" : "error\n";
}