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stage: set blocking moves as default

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Switches the variable to non_blocking_moves so eeprom load returns false
when nothing has been set to match original firmware behaviour.
This commit is contained in:
Filip Ayazi 2021-07-14 01:17:05 +01:00
parent 638c13676b
commit 2dab1008dc
1 changed files with 10 additions and 8 deletions
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18
src/modules/stage/stage.cpp
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@ -16,14 +16,14 @@ const int min_step_delay_eeprom = sizeof(long) * n_motors;
long ramp_time;
const int ramp_time_eeprom = sizeof(long) * (n_motors + 1);
const int axis_max_eeprom = sizeof(long) * (n_motors + 2);
const int blocking_moves_eeprom = sizeof(long) * (n_motors + 3);
const int non_blocking_moves_eeprom = sizeof(long) * (n_motors + 3);
Stepper *motors[n_motors];
signed long current_pos[n_motors];
long steps_remaining[n_motors];
bool stage_moving = false;
bool notify_on_stop = false;
bool blocking_moves = false;
bool non_blocking_moves = false;
void stage_setup()
{
@ -51,8 +51,9 @@ void stage_setup()
ramp_time = 0;
EEPROM.put(ramp_time_eeprom, ramp_time);
}
EEPROM.get(blocking_moves_eeprom, blocking_moves);
// TODO: do we need to do something to initialise this?
//using non-blocking moves here to have blocking moves by default
EEPROM.get(non_blocking_moves_eeprom, non_blocking_moves);
register_module(stage_commands, stage_loop);
}
@ -115,7 +116,8 @@ void start_move(long displ[n_motors])
move_start_time = micros();
final_scaled_t = (float)max_steps * min_step_delay; //NB total time taken will be final_scaled_t + 2*ramp_time
stage_moving = true;
if (blocking_moves){
if (!non_blocking_moves)
{
notify_on_stop = true;
}
else
@ -277,12 +279,12 @@ void update_blocking_moves(String command)
if (args[0][0] == '?')
{
Serial.print("blocking_moves ");
Serial.println(blocking_moves ? "true" : "false");
Serial.println(non_blocking_moves ? "false" : "true");
}
else
{
blocking_moves = args[0][0] == 't';
EEPROM.put(blocking_moves_eeprom, blocking_moves);
non_blocking_moves = !(args[0][0] == 't');
EEPROM.put(non_blocking_moves_eeprom, non_blocking_moves);
Serial.println("done.");
}
}