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Rename Motion::CurrentPos to Position() 

This matches PulseGen::Position() and avoids confusion around the term
"current": Position() returns the head position in the queue, not the
"live" axis position.

We have PulseGen::CurPosition() now for this purpose, although we don't
expose it to Motion yet.
pull/47/head
Yuri D'Elia 2021-07-13 01:03:03 +02:00
parent 9bb1bf4a53
commit 98845008aa
5 changed files with 8 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/modules/idler.cpp
View File

@ -22,7 +22,7 @@ bool Idler::Disengage() {
mm::motion.InitAxis(mm::Idler);
// plan move to idle position
mm::motion.PlanMove(mm::Idler, config::idlerSlotPositions[IdleSlotIndex()] - mm::motion.CurrentPos(mm::Idler), 1000); // @@TODO
mm::motion.PlanMove(mm::Idler, config::idlerSlotPositions[IdleSlotIndex()] - mm::motion.Position(mm::Idler), 1000); // @@TODO
state = Moving;
return true;
}
@ -38,7 +38,7 @@ bool Idler::Engage(uint8_t slot) {
return true;
mm::motion.InitAxis(mm::Idler);
mm::motion.PlanMove(mm::Idler, config::idlerSlotPositions[slot] - mm::motion.CurrentPos(mm::Idler), 1000); // @@TODO
mm::motion.PlanMove(mm::Idler, config::idlerSlotPositions[slot] - mm::motion.Position(mm::Idler), 1000); // @@TODO
state = Moving;
return true;
}

2
src/modules/motion.cpp
View File

@ -39,7 +39,7 @@ void Motion::PlanMoveTo(Axis axis, pos_t pos, steps_t feedrate) {
}
}
pos_t Motion::CurrentPos(Axis axis) const {
pos_t Motion::Position(Axis axis) const {
return axisData[axis].ctrl.Position();
}

6
src/modules/motion.h
View File

@ -112,12 +112,12 @@ public:
/// @param delta relative to current position
/// @param feedrate maximum feedrate
void PlanMove(Axis axis, pos_t delta, steps_t feedrate) {
PlanMoveTo(axis, CurrentPos(axis) + delta, feedrate);
PlanMoveTo(axis, Position(axis) + delta, feedrate);
}
/// @returns current position of an axis
/// @returns head position of an axis (last enqueued position)
/// @param axis axis affected
pos_t CurrentPos(Axis axis) const;
pos_t Position(Axis axis) const;
/// Set acceleration for the selected axis
/// @param axis axis affected

2
src/modules/selector.cpp
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@ -21,7 +21,7 @@ bool Selector::MoveToSlot(uint8_t slot) {
return true;
mm::motion.InitAxis(mm::Selector);
mm::motion.PlanMove(mm::Selector, config::selectorSlotPositions[slot] - mm::motion.CurrentPos(mm::Selector), 1000); // @@TODO
mm::motion.PlanMove(mm::Selector, config::selectorSlotPositions[slot] - mm::motion.Position(mm::Selector), 1000); // @@TODO
state = Moving;
return true;
}

2
tests/unit/logic/stubs/stub_motion.cpp
View File

@ -34,7 +34,7 @@ void Motion::PlanMoveTo(Axis axis, pos_t pos, steps_t feedrate) {
axes[axis].targetPos = pos;
}
pos_t Motion::CurrentPos(Axis axis) const {
pos_t Motion::Position(Axis axis) const {
return axes[axis].pos;
}