From b495570b88b577f9e66850bf0e54545d1b3dc627 Mon Sep 17 00:00:00 2001 From: Stepan Usatiuk Date: Fri, 10 May 2019 16:47:37 +0300 Subject: [PATCH] fix backlash comp Signed-off-by: Stepan Usatyuk --- Firmware/EggbotWireless/include/Globals.h | 6 +++--- Firmware/EggbotWireless/src/Stepper.cpp | 2 -- 2 files changed, 3 insertions(+), 5 deletions(-) diff --git a/Firmware/EggbotWireless/include/Globals.h b/Firmware/EggbotWireless/include/Globals.h index 9bba016..76a8913 100644 --- a/Firmware/EggbotWireless/include/Globals.h +++ b/Firmware/EggbotWireless/include/Globals.h @@ -10,10 +10,10 @@ #define STEPS_PER_REVOLUTION 4076 #define DEF_RPM 2 -Stepper eggStepper(D1, D2, D3, D4, STEPS_PER_REVOLUTION, 10, 0, +Stepper eggStepper(D1, D2, D3, D4, STEPS_PER_REVOLUTION, 20, 0, Y_DEGREES_PER_MM, typeBoth, false); -Stepper servoStepper(D5, D6, D7, D8, -STEPS_PER_REVOLUTION, 10, X_LIMIT, - X_DEGREES_PER_MM, typeClockwise, true); +Stepper servoStepper(D5, D6, D7, D8, -STEPS_PER_REVOLUTION, 20, X_LIMIT, + X_DEGREES_PER_MM, typeClockwise, false); StepperTimer eggStepperTimer(DEF_RPM, STEPS_PER_REVOLUTION); StepperTimer servoStepperTimer(DEF_RPM, STEPS_PER_REVOLUTION); diff --git a/Firmware/EggbotWireless/src/Stepper.cpp b/Firmware/EggbotWireless/src/Stepper.cpp index 9c13f23..f0c2ec2 100644 --- a/Firmware/EggbotWireless/src/Stepper.cpp +++ b/Firmware/EggbotWireless/src/Stepper.cpp @@ -163,8 +163,6 @@ void Stepper::step(int steps) { backlashComp == typeBoth) { remainingSteps += backlashSteps; } - - remainingSteps += backlashSteps; } direction = false; remainingSteps += abs(steps);