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Stepper: Add calc debug output ISSUES

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- sometimes deadlock at direction change
    waits for idle state in runAbs
    function, but stepper is not really moving anymore  ISR does not change
    to idle or state changed afterwards?
- every EXTEND operation results in a motor stop thus when extending
    alot is stopped only ramping up and down
    when encoder stop after several extend attempts
    the stepper moves all the remaining steps successfully
This commit is contained in:
jonny_l480 2023-03-13 20:25:10 +01:00
parent dc6deeb3d0
commit 8d2428d285
1 changed files with 3 additions and 1 deletions
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4
components/DendoStepper/DendoStepper.cpp
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@ -130,7 +130,7 @@ esp_err_t DendoStepper::runPos(int32_t relative)
return ESP_ERR_NOT_SUPPORTED;
if (ctrl.status > IDLE) { //currently moving
ctrl.status = ctrl.status==COAST ? COAST : ACC; //stay at coast otherwise switch to ACC
//ctrl.status = ctrl.status==COAST ? COAST : ACC; //stay at coast otherwise switch to ACC
ctrl.stepsRemaining = ctrl.stepsToGo - ctrl.stepCnt;
calc(abs(relative + ctrl.stepsRemaining)); //calculate new velolcity profile for new+remaining steps
ESP_LOGW("DendoStepper", "EXTEND running movement (stepsRemaining: %d + stepsNew: %d)", ctrl.stepsRemaining, relative);
@ -420,5 +420,7 @@ void DendoStepper::calc(uint32_t targetSteps)
ctrl.stepInterval = TIMER_F / ctrl.currentSpeed;
ctrl.stepsToGo = targetSteps;
printf("CALC: speedNow=%.1f, speedTarget=%.1f, accEnd=%d, coastEnd=%d, accSteps=%d, accInc=%.3f\n",
ctrl.currentSpeed, ctrl.targetSpeed, ctrl.accEnd, ctrl.coastEnd, ctrl.accSteps, ctrl.accInc);
STEP_LOGI("calc", "acc end:%u coastend:%u stepstogo:%u speed:%f acc:%f int: %u", ctrl.accEnd, ctrl.coastEnd, ctrl.stepsToGo, ctrl.speed, ctrl.acc, ctrl.stepInterval);
}