89 lines
2.4 KiB
C++
89 lines
2.4 KiB
C++
#include "motion.h"
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#include "stub_motion.h"
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namespace modules {
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namespace motion {
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Motion motion;
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// Intentionally inited with strange values
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// Need to call ReinitMotion() each time we start some unit test
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AxisSim axes[3] = {
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{ -32767, -32767, false, false, false }, // pulley
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{ -32767, -32767, false, false, false }, // selector //@@TODO proper selector positions once defined
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{ -32767, -32767, false, false, false }, // idler
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};
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void Motion::InitAxis(Axis axis) {
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axes[axis].enabled = true;
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}
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void Motion::DisableAxis(Axis axis) {
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axes[axis].enabled = false;
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}
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bool Motion::StallGuard(Axis axis) {
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return axes[axis].stallGuard;
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}
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void Motion::ClearStallGuardFlag(Axis axis) {
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axes[axis].stallGuard = false;
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}
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void Motion::PlanMove(int16_t pulley, int16_t idler, int16_t selector, uint16_t feedrate, uint16_t starting_speed, uint16_t ending_speed) {
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axes[Pulley].targetPos = axes[Pulley].pos + pulley;
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axes[Idler].targetPos = axes[Idler].pos + idler;
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axes[Selector].targetPos = axes[Selector].pos + selector;
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// speeds and feedrates are not simulated yet
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}
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void Motion::PlanMove(Axis axis, int16_t delta, uint16_t feedrate) {
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axes[axis].targetPos = axes[axis].pos + delta;
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}
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uint16_t Motion::CurrentPos(Axis axis) const {
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return axes[axis].pos;
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}
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void Motion::Home(Axis axis, bool direction) {
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axes[Pulley].homed = true;
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}
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void Motion::SetMode(hal::tmc2130::MotorMode mode) {
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}
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void Motion::Step() {
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for (uint8_t i = 0; i < 3; ++i) {
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if (axes[i].pos != axes[i].targetPos) {
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int8_t dirInc = (axes[i].pos < axes[i].targetPos) ? 1 : -1;
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axes[i].pos += dirInc;
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}
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}
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}
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bool Motion::QueueEmpty() const {
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for (uint8_t i = 0; i < 3; ++i) {
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if (axes[i].pos != axes[i].targetPos)
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return false;
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}
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return true;
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}
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void Motion::AbortPlannedMoves() {
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for (uint8_t i = 0; i < 3; ++i) {
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axes[i].targetPos = axes[i].pos; // leave the axis where it was at the time of abort
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}
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}
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void ReinitMotion() {
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// reset the simulation data to defaults
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axes[0] = AxisSim({ 0, 0, false, false, false }); // pulley
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axes[1] = AxisSim({ 1, 1, false, false, false }); // selector //@@TODO proper selector positions once defined
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axes[2] = AxisSim({ 0, 0, false, false, false }); // idler
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}
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/// probably higher-level operations knowing the semantic meaning of axes
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} // namespace motion
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} // namespace modules
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