int StepperControl::calibrateAxis(int axis) {
// Load motor settings
loadMotorSettings();
//unsigned long timeStart = millis();
bool movementDone = false;
int paramValueInt = 0;
int stepsCount = 0;
int incomingByte = 0;
int error = 0;
bool invertEndStops = false;
int parEndInv;
int parNbrStp;
// Prepare for movement
storeEndStops();
reportEndStops();
// Select the right axis
StepperControlAxis calibAxis;
switch (axis) {
case 0:
calibAxis = axisX;
parEndInv = MOVEMENT_INVERT_ENDPOINTS_X;
parNbrStp = MOVEMENT_AXIS_NR_STEPS_X;
invertEndStops = endStInv[0];
break;
case 1:
calibAxis = axisY;
parEndInv = MOVEMENT_INVERT_ENDPOINTS_Y;;
parNbrStp = MOVEMENT_AXIS_NR_STEPS_Y;
invertEndStops = endStInv[0];
break;
case 2:
calibAxis = axisZ;
parEndInv = MOVEMENT_INVERT_ENDPOINTS_Z;
parNbrStp = MOVEMENT_AXIS_NR_STEPS_Z;
invertEndStops = endStInv[0];
break;
default:
Serial.print("R99 Calibration error: invalid axis selected\n");
return 1;
}
// Preliminary checks
if (calibAxis.endStopMin() || calibAxis.endStopMax()) {
Serial.print("R99 Calibration error: end stop active before start\n");
return 1;
}
Serial.print("R99");
Serial.print(" axis ");
Serial.print(calibAxis.label);
Serial.print(" calibration start");
Serial.print("\n");
// Move towards home
calibAxis.enableMotor();
calibAxis.setDirectionHome();
stepsCount = 0;
movementDone = false;
while (!movementDone && error == 0) {
// Check if there is an emergency stop command
if (Serial.available() > 0) {
incomingByte = Serial.read();
if (incomingByte == 69 || incomingByte == 101) {
movementDone = true;
error = 1;
}
}
// Move until the end stop for home position is reached
if ((!calibAxis.endStopMin() && !calibAxis.endStopMax()) && !movementDone) {
calibAxis.setMotorStep();
delayMicroseconds(1000000 / speedMin[axis] /2);
stepsCount++;
if (stepsCount % (speedMin[axis] * 3) == 0)
{
// Periodically send message still active
Serial.print("R04\n");
}
calibAxis.resetMotorStep();
delayMicroseconds(1000000 / speedMin[axis] /2);
} else {
movementDone = true;
// If end stop for home is active, set the position to zero
if (calibAxis.endStopMax())
{
invertEndStops = true;
}
}
}
Serial.print("R99");
Serial.print(" axis ");
Serial.print(calibAxis.label);
Serial.print(" at first end stop");
Serial.print("\n");
// Report back the end stop setting
if (error == 0) {
if (invertEndStops) {
paramValueInt = 1;
} else {
paramValueInt = 0;
}
Serial.print("R23");
Serial.print(" ");
Serial.print("P");
Serial.print(parEndInv);
Serial.print(" ");
Serial.print("V");
Serial.print(paramValueInt);
Serial.print("\n");
}
// Store the status of the system
storeEndStops();
reportEndStops();
// Move into the other direction now, and measure the number of steps
stepsCount = 0;
movementDone = false;
calibAxis.setDirectionAway();
while (!movementDone && error == 0) {
// Check if there is an emergency stop command
if (Serial.available() > 0) {
incomingByte = Serial.read();
if (incomingByte == 69 || incomingByte == 101) {
movementDone = true;
error = 1;
}
}
// Move until the end stop at the other side of the axis is reached
if (((!invertEndStops && !calibAxis.endStopMax()) || (invertEndStops && !calibAxis.endStopMin())) && !movementDone) {
calibAxis.setMotorStep();
stepsCount++;
delayMicroseconds(1000000 / speedMin[axis] /2);
if (stepsCount % (speedMin[axis] * 3) == 0)
{
// Periodically send message still active
Serial.print("R04\n");
}
calibAxis.resetMotorStep();
delayMicroseconds(1000000 / speedMin[axis] /2);
} else {
movementDone = true;
}
}
Serial.print("R99");
Serial.print(" axis ");
Serial.print(calibAxis.label);
Serial.print(" at second end stop");
Serial.print("\n");
// Report back the end stop setting
if (error == 0) {
Serial.print("R23");
Serial.print(" ");
Serial.print("P");
Serial.print(parNbrStp);
Serial.print(" ");
Serial.print("V");
Serial.print(stepsCount);
Serial.print("\n");
}
calibAxis.disableMotor();
storeEndStops();
reportEndStops();
switch (axis) {
case 0:
CurrentState::getInstance()->setX(stepsCount);
break;
case 1:
CurrentState::getInstance()->setY(stepsCount);
break;
case 2:
CurrentState::getInstance()->setZ(stepsCount);
break;
}
reportPosition();
return error;
}
int StepperControl::calibrateAxis(int axis)
{
// Load motor and encoder settings
loadMotorSettings();
loadEncoderSettings();
//unsigned long timeStart = millis();
bool movementDone = false;
int paramValueInt = 0;
int stepsCount = 0;
int incomingByte = 0;
int error = 0;
bool invertEndStops = false;
int parEndInv;
int parNbrStp;
float *missedSteps;
int *missedStepsMax;
long *lastPosition;
float *encoderStepDecay;
bool *encoderEnabled;
int *axisStatus;
long *axisStepsPerMm;
// Prepare for movement
storeEndStops();
reportEndStops();
// Select the right axis
StepperControlAxis *calibAxis;
StepperControlEncoder *calibEncoder;
switch (axis)
{
case 0:
calibAxis = &axisX;
calibEncoder = &encoderX;
parEndInv = MOVEMENT_INVERT_ENDPOINTS_X;
parNbrStp = MOVEMENT_AXIS_NR_STEPS_X;
invertEndStops = endStInv[0];
missedSteps = &motorConsMissedSteps[0];
missedStepsMax = &motorConsMissedStepsMax[0];
lastPosition = &motorLastPosition[0];
encoderStepDecay = &motorConsMissedStepsDecay[0];
encoderEnabled = &motorConsEncoderEnabled[0];
axisStatus = &axisSubStep[0];
axisStepsPerMm = &stepsPerMm[0];
break;
case 1:
calibAxis = &axisY;
calibEncoder = &encoderY;
parEndInv = MOVEMENT_INVERT_ENDPOINTS_Y;
parNbrStp = MOVEMENT_AXIS_NR_STEPS_Y;
invertEndStops = endStInv[1];
missedSteps = &motorConsMissedSteps[1];
missedStepsMax = &motorConsMissedStepsMax[1];
lastPosition = &motorLastPosition[1];
encoderStepDecay = &motorConsMissedStepsDecay[1];
encoderEnabled = &motorConsEncoderEnabled[1];
axisStatus = &axisSubStep[1];
axisStepsPerMm = &stepsPerMm[1];
break;
case 2:
calibAxis = &axisZ;
calibEncoder = &encoderZ;
parEndInv = MOVEMENT_INVERT_ENDPOINTS_Z;
parNbrStp = MOVEMENT_AXIS_NR_STEPS_Z;
invertEndStops = endStInv[2];
missedSteps = &motorConsMissedSteps[2];
missedStepsMax = &motorConsMissedStepsMax[2];
lastPosition = &motorLastPosition[2];
encoderStepDecay = &motorConsMissedStepsDecay[2];
encoderEnabled = &motorConsEncoderEnabled[2];
axisStatus = &axisSubStep[2];
axisStepsPerMm = &stepsPerMm[2];
break;
default:
Serial.print("R99 Calibration error: invalid axis selected\r\n");
error = 1;
CurrentState::getInstance()->setLastError(error);
return error;
}
// Preliminary checks
if (calibAxis->endStopMin() || calibAxis->endStopMax())
{
Serial.print("R99 Calibration error: end stop active before start\r\n");
error = 1;
CurrentState::getInstance()->setLastError(error);
return error;
}
Serial.print("R99");
Serial.print(" axis ");
Serial.print(calibAxis->channelLabel);
Serial.print(" move to start for calibration");
Serial.print("\r\n");
*axisStatus = COMM_REPORT_MOVE_STATUS_START_MOTOR;
reportStatus(calibAxis, axisStatus[0]);
// Move towards home
calibAxis->enableMotor();
calibAxis->setDirectionHome();
calibAxis->setCurrentPosition(calibEncoder->currentPosition());
stepsCount = 0;
*missedSteps = 0;
movementDone = false;
motorConsMissedSteps[0] = 0;
motorConsMissedSteps[1] = 0;
motorConsMissedSteps[2] = 0;
*axisStatus = COMM_REPORT_MOVE_STATUS_CRAWLING;
reportStatus(calibAxis, axisStatus[0]);
reportCalib(calibAxis, COMM_REPORT_CALIBRATE_STATUS_TO_HOME);
while (!movementDone && error == 0)
{
#if defined(FARMDUINO_V14)
checkEncoders();
#endif
checkAxisVsEncoder(calibAxis, calibEncoder, &motorConsMissedSteps[axis], &motorLastPosition[axis], &motorConsEncoderLastPosition[axis], &motorConsEncoderUseForPos[axis], &motorConsMissedStepsDecay[axis], &motorConsEncoderEnabled[axis]);
// Check if there is an emergency stop command
if (Serial.available() > 0)
{
incomingByte = Serial.read();
if (incomingByte == 69 || incomingByte == 101)
{
Serial.print("R99 emergency stop\r\n");
movementDone = true;
CurrentState::getInstance()->setEmergencyStop();
Serial.print(COMM_REPORT_EMERGENCY_STOP);
CurrentState::getInstance()->printQAndNewLine();
error = 1;
}
}
// Move until the end stop for home position is reached, either by end stop or motor skipping
if ((!calibAxis->endStopMin() && !calibAxis->endStopMax()) && !movementDone && (*missedSteps < *missedStepsMax))
{
calibAxis->setStepAxis();
delayMicroseconds(100000 / speedHome[axis] / 2);
stepsCount++;
if (stepsCount % (speedHome[axis] * 3) == 0)
{
// Periodically send message still active
Serial.print(COMM_REPORT_CMD_BUSY);
CurrentState::getInstance()->printQAndNewLine();
}
if (debugMessages)
{
if (stepsCount % (speedHome[axis] / 6) == 0 /*|| *missedSteps > 3*/)
{
Serial.print("R99");
Serial.print(" step count ");
Serial.print(stepsCount);
Serial.print(" missed steps ");
Serial.print(*missedSteps);
Serial.print(" max steps ");
Serial.print(*missedStepsMax);
Serial.print(" cur pos mtr ");
Serial.print(calibAxis->currentPosition());
Serial.print(" cur pos enc ");
Serial.print(calibEncoder->currentPosition());
Serial.print("\r\n");
}
}
calibAxis->resetMotorStep();
delayMicroseconds(100000 / speedHome[axis] / 2);
}
else
{
movementDone = true;
Serial.print("R99 movement done\r\n");
// If end stop for home is active, set the position to zero
if (calibAxis->endStopMax())
{
invertEndStops = true;
}
}
}
reportCalib(calibAxis, COMM_REPORT_CALIBRATE_STATUS_TO_END);
Serial.print("R99");
Serial.print(" axis ");
Serial.print(calibAxis->channelLabel);
Serial.print(" at starting point");
Serial.print("\r\n");
// Report back the end stop setting
if (error == 0)
{
if (invertEndStops)
{
paramValueInt = 1;
}
else
{
paramValueInt = 0;
}
Serial.print("R23");
Serial.print(" ");
Serial.print("P");
Serial.print(parEndInv);
Serial.print(" ");
Serial.print("V");
Serial.print(paramValueInt);
//Serial.print("\r\n");
CurrentState::getInstance()->printQAndNewLine();
}
// Store the status of the system
storeEndStops();
reportEndStops();
// Move into the other direction now, and measure the number of steps
Serial.print("R99");
Serial.print(" axis ");
Serial.print(calibAxis->channelLabel);
Serial.print(" calibrating length");
Serial.print("\r\n");
stepsCount = 0;
movementDone = false;
*missedSteps = 0;
calibAxis->setDirectionAway();
calibAxis->setCurrentPosition(calibEncoder->currentPosition());
motorConsMissedSteps[0] = 0;
motorConsMissedSteps[1] = 0;
motorConsMissedSteps[2] = 0;
long encoderStartPoint = calibEncoder->currentPosition();
long encoderEndPoint = calibEncoder->currentPosition();
while (!movementDone && error == 0)
{
#if defined(FARMDUINO_V14)
checkEncoders();
#endif
checkAxisVsEncoder(calibAxis, calibEncoder, &motorConsMissedSteps[axis], &motorLastPosition[axis], &motorConsEncoderLastPosition[axis], &motorConsEncoderUseForPos[axis], &motorConsMissedStepsDecay[axis], &motorConsEncoderEnabled[axis]);
// Check if there is an emergency stop command
if (Serial.available() > 0)
{
incomingByte = Serial.read();
if (incomingByte == 69 || incomingByte == 101)
{
Serial.print("R99 emergency stop\r\n");
movementDone = true;
CurrentState::getInstance()->setEmergencyStop();
Serial.print(COMM_REPORT_EMERGENCY_STOP);
CurrentState::getInstance()->printQAndNewLine();
error = 1;
}
}
// Ignore the missed steps at startup time
if (stepsCount < 10)
{
*missedSteps = 0;
}
// Move until the end stop at the other side of the axis is reached
if (((!invertEndStops && !calibAxis->endStopMax()) || (invertEndStops && !calibAxis->endStopMin())) && !movementDone && (*missedSteps < *missedStepsMax))
{
calibAxis->setStepAxis();
stepsCount++;
//checkAxisVsEncoder(&axisX, &encoderX, &motorConsMissedSteps[0], &motorLastPosition[0], &motorConsMissedStepsDecay[0], &motorConsEncoderEnabled[0]);
delayMicroseconds(100000 / speedHome[axis] / 2);
if (stepsCount % (speedHome[axis] * 3) == 0)
{
// Periodically send message still active
Serial.print(COMM_REPORT_CMD_BUSY);
//Serial.print("\r\n");
CurrentState::getInstance()->printQAndNewLine();
Serial.print("R99");
Serial.print(" step count: ");
Serial.print(stepsCount);
Serial.print("\r\n");
}
calibAxis->resetMotorStep();
delayMicroseconds(100000 / speedHome[axis] / 2);
}
else
{
Serial.print("R99 movement done\r\n");
movementDone = true;
}
}
Serial.print("R99");
Serial.print(" axis ");
Serial.print(calibAxis->channelLabel);
Serial.print(" at end point");
Serial.print("\r\n");
encoderEndPoint = calibEncoder->currentPosition();
// if the encoder is enabled, use the encoder data instead of the step count
if (encoderEnabled)
{
stepsCount = abs(encoderEndPoint - encoderStartPoint);
}
// Report back the end stop setting
if (error == 0)
{
Serial.print("R23");
Serial.print(" ");
Serial.print("P");
Serial.print(parNbrStp);
Serial.print(" ");
Serial.print("V");
Serial.print((float)stepsCount);
CurrentState::getInstance()->printQAndNewLine();
}
*axisStatus = COMM_REPORT_MOVE_STATUS_STOP_MOTOR;
reportStatus(calibAxis, axisStatus[0]);
calibAxis->disableMotor();
storeEndStops();
reportEndStops();
switch (axis)
{
case 0:
CurrentState::getInstance()->setX(stepsCount);
break;
case 1:
CurrentState::getInstance()->setY(stepsCount);
break;
case 2:
CurrentState::getInstance()->setZ(stepsCount);
break;
}
reportPosition();
*axisStatus = COMM_REPORT_MOVE_STATUS_IDLE;
reportStatus(calibAxis, axisStatus[0]);
reportCalib(calibAxis, COMM_REPORT_CALIBRATE_STATUS_IDLE);
CurrentState::getInstance()->setLastError(error);
return error;
}
