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Stepper: Add resume/update functionality (WIP)

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add way to extend current move operation without having to wait for IDLE
state (full decel time)
This commit is contained in:
jonny_ji7
2023-03-12 13:06:30 +01:00
parent 423348be9f
commit de42b6252e
3 changed files with 107 additions and 20 deletions
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27
main/guide-stepper.cpp
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@@ -50,6 +50,7 @@ static DendoStepper step;
static const char *TAG = "stepper"; //tag for logging
static bool stepp_direction = true;
static bool dir = true, dirPrev; //TODO local variables in travelSteps?
static uint32_t posNow = 0;
@@ -65,13 +66,23 @@ void travelSteps(int stepsTarget){
stepsToGo = abs(stepsTarget);
if(stepsTarget < 0) stepp_direction = !stepp_direction; //invert direction in reverse mode
while (stepsToGo != 0){
//--- wait if direction changed ---
if (dirPrev != dir){
ESP_LOGI(TAG, " dir-change detected - waiting for move to finish \n ");
while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
}
//--- currently moving right ---
if (stepp_direction == true){ //currently moving right
remaining = POS_MAX_STEPS - posNow; //calc remaining distance fom current position to limit
if (stepsToGo > remaining){ //new distance will exceed limit
step.runAbs (POS_MAX_STEPS); //move to limit
while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
dirPrev = dir;
dir = 1;
//while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
posNow = POS_MAX_STEPS;
stepp_direction = false; //change current direction for next iteration
stepsToGo = stepsToGo - remaining; //decrease target length by already traveled distance
@@ -79,7 +90,10 @@ void travelSteps(int stepsTarget){
}
else { //target distance does not reach the limit
step.runAbs (posNow + stepsToGo); //move by (remaining) distance to reach target length
while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
dirPrev = dir;
dir = 1;
//-- dont wait for move to finish since moves in same direction get merged --
//while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
ESP_LOGD(TAG, "moving to %d\n", posNow+stepsToGo);
posNow += stepsToGo;
stepsToGo = 0; //finished, reset target length (could as well exit loop/break)
@@ -91,7 +105,9 @@ void travelSteps(int stepsTarget){
remaining = posNow - POS_MIN_STEPS;
if (stepsToGo > remaining){
step.runAbs (POS_MIN_STEPS);
while(step.getState() != 1) vTaskDelay(2); //wait for move to finish
dirPrev = dir;
dir = 0;
//while(step.getState() != 1) vTaskDelay(2); //wait for move to finish
posNow = POS_MIN_STEPS;
stepp_direction = true;
stepsToGo = stepsToGo - remaining;
@@ -99,7 +115,10 @@ void travelSteps(int stepsTarget){
}
else {
step.runAbs (posNow - stepsToGo); //when moving left the coordinate has to be decreased
while(step.getState() != 1) vTaskDelay(2); //wait for move to finish
dirPrev = dir;
dir = 0;
//-- dont wait for move to finish since moves in same direction get merged --
//while(step.getState() != 1) vTaskDelay(2); //wait for move to finish
ESP_LOGD(TAG, "moving to %d\n", posNow - stepsToGo);
posNow -= stepsToGo;
stepsToGo = 0;