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fix wrong delay computations, some debug output

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This commit is contained in:
Stepan Usatiuk
2021-06-29 20:31:10 +03:00
parent 54c8417f9d
commit 1c98e2670e
1 changed files with 17 additions and 2 deletions
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19
Firmware/MotorControl/src/main.cpp
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@@ -28,10 +28,10 @@ void adjustRPM() {
if (stepsX != 0 && stepsY != 0) { if (stepsX != 0 && stepsY != 0) {
if (stepsX > stepsY) { if (stepsX > stepsY) {
eggStepperDelay = eggStepperDelay =
(float)servoStepperDelay * (float)stepsY / (float)stepsX; (float)servoStepperDelay * (float)stepsX / (float)stepsY;
} else { } else {
servoStepperDelay = servoStepperDelay =
(float)eggStepperDelay * (float)stepsX / (float)stepsY; (float)eggStepperDelay * (float)stepsY / (float)stepsX;
} }
} }
} }
@@ -157,13 +157,28 @@ ISR(TIMER2_COMPA_vect) {
newTick = true; newTick = true;
} }
volatile unsigned int tps = 0;
volatile unsigned long long oldmillis = 0;
void loop() { void loop() {
if (newCommand) { if (newCommand) {
execCommand(command); execCommand(command);
} }
if (newTick) { if (newTick) {
steppersRoutine(); steppersRoutine();
tps++;
newTick = false; newTick = false;
} }
if (millis() - oldmillis > 1000) {
oldmillis = millis();
Serial.println(tps);
Serial.print(eggStepper.getRemainingSteps());
Serial.print(" ");
Serial.println(servoStepper.getRemainingSteps());
Serial.print(eggStepperDelay);
Serial.print(" ");
Serial.println(servoStepperDelay);
tps = 0;
}
wdt_reset(); wdt_reset();
} }