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Added command to notify when stage stops

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This allows simpler emulation of blocking moves.
We may want to improve the way this works...
This commit is contained in:
Richard Bowman 2021-06-23 18:54:29 +01:00
parent 4cf54971a2
commit 71f0da35a2
1 changed files with 12 additions and 0 deletions
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12
src/modules/stage/stage.cpp
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@ -21,6 +21,7 @@ signed long current_pos[n_motors];
long steps_remaining[n_motors]; long steps_remaining[n_motors];
bool stage_moving = false; bool stage_moving = false;
bool notify_on_stop = false;
void stage_setup() void stage_setup()
{ {
@ -164,6 +165,11 @@ void stage_loop()
} }
} }
} }
if (!stage_moving && notify_on_stop)
{
Serial.println("stopped");
notify_on_stop = false;
}
} }
void stage_move_single_axis(uint8_t axis, String command) void stage_move_single_axis(uint8_t axis, String command)
@ -273,6 +279,11 @@ void is_stage_moving(String command)
Serial.println(stage_moving?"true":"false"); Serial.println(stage_moving?"true":"false");
} }
void activate_notify_on_stop(String command)
{
notify_on_stop = true;
}
//TODO: move help strings to program memory //TODO: move help strings to program memory
//F() cannot be used outside block context though //F() cannot be used outside block context though
extern const Command stage_commands[] = { extern const Command stage_commands[] = {
@ -288,4 +299,5 @@ extern const Command stage_commands[] = {
{"zero", stage_zero}, {"zero", stage_zero},
{"stop", stage_stop}, {"stop", stage_stop},
{"moving", is_stage_moving}, {"moving", is_stage_moving},
{"notify_on_stop", activate_notify_on_stop},
END_COMMAND}; END_COMMAND};