a0032ea07f
before adding the travelMm function the algorithm for moving the axis between left and right was designed and evaluated via commandline first. -> Add this test-code in this commit
105 lines
2.9 KiB
C
105 lines
2.9 KiB
C
#include <stdio.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <stdbool.h>
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#include <math.h>
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#define MAX 100
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#define MIN 10
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#define TRAVEL MAX-MIN
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//==== VARIABLES ====
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bool direction = true;
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uint16_t posNow = 10;
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//==== FUNCTIONS ====
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//print position
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//print line that illustrates the position pos between 0 and MAX
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//e.g. "|----<=>--------|"
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void printPos(int pos){
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int width = 50;
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printf("(%d)|", pos);
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for (int i = 0; i<(pos) * width/MAX; i++) printf("-");
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printf("<=>");
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for (int i = 0; i<(MAX-pos) * width/MAX; i++) printf("-");
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printf("|\n");
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return;
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}
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//move "virtual axis" to absolute coordinate in mm
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void moveToAbs(int d){
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int posOld = posNow;
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printf ("moving from %d %s to %d (%s)\n", posNow, direction ? "=>" : "<=", d, direction ? "RIGHT" : "LEFT");
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posNow = d;
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//illustrate movement (print position for each coordinate change)
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for (int i=posOld; i!=posNow; i+=posNow>posOld?1:-1) printPos(i);
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return;
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}
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//travel back and forth between MIN and MAX coordinate for a certain distance
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//negative values are processed reversed
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void travel(int length){
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int d, remaining;
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d = abs(length);
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if(length < 0) direction = !direction; //invert direction in reverse mode
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while (d != 0){
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//--- currently moving right ---
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if (direction == true){ //currently moving right
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remaining = MAX - posNow; //calc remaining distance fom current position to limit
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if (d > remaining){ //new distance will exceed limit
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moveToAbs (MAX); //move to limit
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direction = false; //change current direction for next iteration
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d = d - remaining; //decrease target length by already traveled distance
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printf(" --- changed direction (L) --- \n ");
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}
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else { //target distance does not reach the limit
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moveToAbs (posNow + d); //move by (remaining) distance to reach target length
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d = 0; //finished, reset target length (could as well exit loop/break)
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}
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}
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//--- currently moving left ---
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else {
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remaining = posNow - MIN;
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if (d > remaining){
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moveToAbs (MIN);
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direction = true;
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d = d - remaining;
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printf(" --- changed direction (R) --- \n ");
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}
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else {
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moveToAbs (posNow - d); //when moving left the coordinate has to be decreased
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d = 0;
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}
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}
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}
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if(length < 0) direction = !direction; //undo inversion of direction after reverse mode is finished
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return;
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}
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//==== MAIN ====
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int main (void)
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{
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int input;
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printf("**cable-length-cutter testing cnc-guide**\n");
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while(1){
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printf("enter mm to travel:");
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scanf("%d", &input);
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travel(input);
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printf("\n");
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}
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return 0;
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}
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