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Add a command to make moves blocking if desired

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This commit is contained in:
Richard Bowman 2021-06-23 20:13:41 +01:00
parent 165f619869
commit 83aa9c113a
1 changed files with 29 additions and 1 deletions
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28
src/modules/stage/stage.cpp
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@ -16,12 +16,14 @@ const int min_step_delay_eeprom = sizeof(long) * n_motors;
long ramp_time; long ramp_time;
const int ramp_time_eeprom = sizeof(long) * (n_motors + 1); const int ramp_time_eeprom = sizeof(long) * (n_motors + 1);
const int axis_max_eeprom = sizeof(long) * (n_motors + 2); const int axis_max_eeprom = sizeof(long) * (n_motors + 2);
const int blocking_moves_eeprom = sizeof(long) * (n_motors + 3);
Stepper *motors[n_motors]; Stepper *motors[n_motors];
signed long current_pos[n_motors]; 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; bool notify_on_stop = false;
bool blocking_moves = false;
void stage_setup() void stage_setup()
{ {
@ -49,6 +51,8 @@ void stage_setup()
ramp_time = 0; ramp_time = 0;
EEPROM.put(ramp_time_eeprom, ramp_time); EEPROM.put(ramp_time_eeprom, ramp_time);
} }
EEPROM.get(blocking_moves_eeprom, blocking_moves);
// TODO: do we need to do something to initialise this?
register_module(stage_commands, stage_loop); register_module(stage_commands, stage_loop);
} }
@ -111,7 +115,13 @@ void start_move(long displ[n_motors])
move_start_time = micros(); 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 final_scaled_t = (float)max_steps * min_step_delay; //NB total time taken will be final_scaled_t + 2*ramp_time
stage_moving = true; stage_moving = true;
if (blocking_moves){
notify_on_stop = true;
}
else
{
Serial.println("done."); Serial.println("done.");
}
} }
void stage_loop() void stage_loop()
@ -260,6 +270,23 @@ void stage_ramp_time(String command)
free(args[0]); free(args[0]);
} }
void update_blocking_moves(String command)
{
char * args[1];
parse_arguments(args, command, 1);
if (args[0][0] == '?')
{
Serial.print("blocking_moves ");
Serial.println(blocking_moves ? "true" : "false");
}
else
{
blocking_moves = args[0][0] == 't';
EEPROM.put(blocking_moves_eeprom, blocking_moves);
Serial.println("done.");
}
}
void stage_zero(String command) void stage_zero(String command)
{ {
EACH_MOTOR current_pos[i] = 0; EACH_MOTOR current_pos[i] = 0;
@ -307,4 +334,5 @@ extern const Command stage_commands[] = {
{"stop", stage_stop}, {"stop", stage_stop},
{"moving", is_stage_moving}, {"moving", is_stage_moving},
{"notify_on_stop", activate_notify_on_stop}, {"notify_on_stop", activate_notify_on_stop},
{"blocking_moves", update_blocking_moves},
END_COMMAND}; END_COMMAND};