My MM-control-board v0.3 has following ADC readings in DEBUG_BUTTONS
- none = 1023
- left = 169
- mid = 91-92
- right = 0
As the comparison was larger than 0 MY MMU2 right button wasn't detected.
This introduces a new #define UNITTEST_MOTION which is used to control
the testing scenario:
- Normal tests, we allow the stub to override the built-in definition.
- For motion tests, we stub the lower-level classes and test the
effective implementation
We also repeat the prototype of the function, which IMHO is more
readable and more flexible: we need to use inline for the real
definition, which would require even more macros otherwise.
That implies changing motor's mode from SpreadCycle into StealtMode (or vice versa)
requires a stand still MMU with no other command (i.e. motor moves) being performed.
This elegantly solves the synchronization problem of TMC2130 mode change, as it results
in severe jerking while a motor is moving.
The change in protocol is minimal - M0/M1 first return `M0 A` (accepted) and another `Q0` then
returns `M0 F` (finished). The MK4 counterpart may ignore the additional report if necessary
as the mode change is done immediately (shortly after responding with `M0 A`)
Motion::SetMode(axis, mode) was incorrectly looping through all axes,
setting the same axis three times.
Fix this and introduce Motion::SetMode(mode) which actually loops
through all axes (see PR #110)
If the queue is full and a new move is queued, panic!
Introduce a new error code QUEUE_FULL to help diagnose situations where
the queue is handled improperly: likely one of the state machines not
waiting for the previous actions to finish.
PulseGen::PlanMove returns a boolean if the queue cannot be moved.
We could extend this to Motion::PlanMove, however all moves would then
have to check for this. Having a global check such as this ensures
we never ignore such situation.
3d-gussner
Alex Voinea
D.R.racer
DRracer
Yuri D'Elia
Alan Dragomirecký