void home_x(void)
{
uint16_t usteps1 = 0, usteps2 = 0, usteps3 = 0;
// 1st: move left until limit hit.
set_x_direction_negative();
enable_x_motor();
while (!c_x_min_reached()) {
step_x();
_delay_us(uSEC_per_uSTEP(HOME_SPEED_1));
usteps1++;
}
// 2nd: move right until off the limit.
// Don't go further than 1 cm.
uint16_t max_usteps2 = MM_to_uSTEPS(10);
set_x_direction_positive();
while (usteps2 < max_usteps2 && c_x_min_reached()) {
step_x();
_delay_us(uSEC_per_uSTEP(HOME_SPEED_2));
usteps2++;
}
// 3rd: move left again until limit hit.
set_x_direction_negative();
while (!c_x_min_reached()) {
step_x();
_delay_us(uSEC_per_uSTEP(HOME_SPEED_3));
usteps3++;
}
set_x_direction_positive();
}
void move_xy(int32_t x_usteps, int32_t y_usteps)
{
if (x_usteps > 0)
set_x_direction_positive();
else if (x_usteps < 0) {
set_x_direction_negative();
x_usteps = -x_usteps;
}
if (y_usteps > 0)
set_y_direction_positive();
else if (y_usteps < 0) {
set_y_direction_negative();
y_usteps = -y_usteps;
}
if (x_usteps >= y_usteps) {
int32_t err = x_usteps / 2;
for (uint32_t i = 0; i < x_usteps; i++) {
step_x();
err -= y_usteps;
if (err < 0) {
err += x_usteps;
step_y();
}
if (i < 200 || i > x_usteps - 200)
_delay_us(uSEC_per_uSTEP(MOVE_SPEED));
else if (i < 400 || i > x_usteps - 400)
_delay_us(uSEC_per_uSTEP(MOVE_SPEED2));
else if (i < 600 || i > x_usteps - 600)
_delay_us(uSEC_per_uSTEP(MOVE_SPEED3));
else
_delay_us(uSEC_per_uSTEP(MOVE_SPEED4));
}
} else {
int32_t err = y_usteps / 2;
for (uint32_t i = 0; i < y_usteps; i++) {
step_y();
err -= x_usteps;
if (err < 0) {
err += y_usteps;
step_x();
}
if (i < 200 || i > y_usteps - 200)
_delay_us(uSEC_per_uSTEP(MOVE_SPEED));
else if (i < 400 || i > y_usteps - 400)
_delay_us(uSEC_per_uSTEP(MOVE_SPEED2));
else if (i < 600 || i > y_usteps - 600)
_delay_us(uSEC_per_uSTEP(MOVE_SPEED3));
else
_delay_us(uSEC_per_uSTEP(MOVE_SPEED4));
}
}
}
void move_x(int32_t usteps)
{
if (usteps > 0) {
printf("%s: positive\n", __func__);
set_x_direction_positive();
} else {
printf("%s: negative\n", __func__);
set_x_direction_negative();
usteps = -usteps;
}
printf("%s: usteps = %ld\n", __func__, usteps);
for (uint32_t i = 0; i < usteps; i++) {
step_x();
_delay_us(uSEC_per_uSTEP(MOVE_SPEED));
}
printf("%s: done\n", __func__);
}
int trace_line_interpolate(point_t end_point) {
int x_diff;
int y_diff;
int xy_bal;
x_diff = end_point.x - current_point.x;
y_diff = end_point.y - current_point.y;
dir_x(x_diff);
dir_y(y_diff);
x_diff = abs(end_point.x - current_point.x);
y_diff = abs(end_point.y - current_point.y);
xy_bal = x_diff - y_diff;
while(current_point.x != end_point.x
|| current_point.y != end_point.y) {
if(xy_bal > 0) {
step_x();
xy_bal -= y_diff;
} else if(xy_bal < 0) {
step_y();
xy_bal += x_diff;
} else {
step_xy();
xy_bal -= y_diff;
xy_bal += x_diff;
}
if(steps > x_diff + y_diff) {
printf("Ran too long!\n");
break;
}
}
}
void home_xy(void)
{
bool at_x_min, at_y_min;
// 1st: move down and left until both X and Y min limit hit.
printf("Step 1\n");
set_x_direction_negative();
set_y_direction_negative();
at_x_min = at_y_min = false;
// uint8_t z = 0;
while (true) {
at_x_min = at_x_min || c_x_min_reached();
at_y_min = at_y_min || c_y_min_reached();
// if (!++z)
// printf("at_x_min=%d at_y_min=%d\n", at_x_min, at_y_min);
if (at_y_min && at_x_min)
break;
if (!at_x_min)
step_x();
if (!at_y_min)
step_y();
_delay_us(uSEC_per_uSTEP(HOME_SPEED_1));
}
printf("Step 1 end\n");
// 2nd: move up and right until off both X and Y min limits.
// Travel 1 cm max.
printf("Step 2\n");
set_x_direction_positive();
set_y_direction_positive();
uint16_t ustep_count = 0;
while (true) {
at_x_min = at_x_min && c_x_min_reached();
at_y_min = at_y_min && c_y_min_reached();
if (!at_y_min && !at_x_min)
break;
if (at_x_min)
step_x();
if (at_y_min)
step_y();
_delay_us(uSEC_per_uSTEP(HOME_SPEED_2));
if (ustep_count == MM_to_uSTEPS(10))
break;
}
printf("Step 2 end\n");
// 3rd: move down and left until both X and Y min limits hit again.
printf("Step 3\n");
set_x_direction_negative();
set_y_direction_negative();
while (true) {
at_x_min = at_x_min || c_x_min_reached();
at_y_min = at_y_min || c_y_min_reached();
if (at_y_min && at_x_min)
break;
if (!at_x_min)
step_x();
if (!at_y_min)
step_y();
_delay_us(uSEC_per_uSTEP(HOME_SPEED_3));
}
printf("Step 3 end\n");
}
