void StepperControlAxis::checkMovement()
{
checkAxisDirection();
// Handle movement if destination is not already reached or surpassed
if (
(
(coordDestinationPoint > coordSourcePoint && coordCurrentPoint < coordDestinationPoint) ||
(coordDestinationPoint < coordSourcePoint && coordCurrentPoint > coordDestinationPoint) ||
coordHomeAxis) &&
axisActive)
{
// home or destination not reached, keep moving
// If end stop reached or the encoder doesn't move anymore, stop moving motor, otherwise set the timing for the next step
if ((coordHomeAxis && !endStopAxisReached(false)) || (!coordHomeAxis && !endStopAxisReached(!movementToHome)))
{
// Get the axis speed, in steps per second
axisSpeed = calculateSpeed(coordSourcePoint, coordCurrentPoint, coordDestinationPoint,
motorSpeedMin, motorSpeedMax, motorStepsAcc);
// // Set the moments when the step is set to true and false
// if (axisSpeed > 0)
// {
// Take the requested speed (steps / second) and divide by the interrupt speed (interrupts per seconde)
// This gives the number of interrupts (called ticks here) before the pulse needs to be set for the next step
// stepOnTick = moveTicks + (1000.0 * 1000.0 / motorInterruptSpeed / axisSpeed / 2);
// stepOffTick = moveTicks + (1000.0 * 1000.0 / motorInterruptSpeed / axisSpeed);
// }
}
else
{
axisActive = false;
}
}
else
{
// Destination or home reached. Deactivate the axis.
axisActive = false;
}
// If end stop for home is active, set the position to zero
if (endStopAxisReached(false))
{
coordCurrentPoint = 0;
}
}
void StepperControlAxis::setStepAxis() {
if (coordHomeAxis && coordCurrentPoint == 0) {
// Keep moving toward end stop even when position is zero
// but end stop is not yet active
if (motorHomeIsUp) {
coordCurrentPoint = -1;
} else {
coordCurrentPoint = 1;
}
}
if (coordCurrentPoint < coordDestinationPoint) {
coordCurrentPoint++;
} else if (coordCurrentPoint > coordDestinationPoint) {
coordCurrentPoint--;
}
// set a step on the motors
setMotorStep();
// if the home end stop is reached, set the current position
if (endStopAxisReached(false))
{
coordCurrentPoint = 0;
}
}