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fix backlash comp

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Signed-off-by: Stepan Usatyuk <usaatyuk@ustk.me>
This commit is contained in:
Stepan Usatiuk
2019-05-10 16:47:37 +03:00
parent b039fc4573
commit b495570b88
2 changed files with 3 additions and 5 deletions
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6
Firmware/EggbotWireless/include/Globals.h
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@@ -10,10 +10,10 @@
#define STEPS_PER_REVOLUTION 4076 #define STEPS_PER_REVOLUTION 4076
#define DEF_RPM 2 #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); Y_DEGREES_PER_MM, typeBoth, false);
Stepper servoStepper(D5, D6, D7, D8, -STEPS_PER_REVOLUTION, 10, X_LIMIT, Stepper servoStepper(D5, D6, D7, D8, -STEPS_PER_REVOLUTION, 20, X_LIMIT,
X_DEGREES_PER_MM, typeClockwise, true); X_DEGREES_PER_MM, typeClockwise, false);
StepperTimer eggStepperTimer(DEF_RPM, STEPS_PER_REVOLUTION); StepperTimer eggStepperTimer(DEF_RPM, STEPS_PER_REVOLUTION);
StepperTimer servoStepperTimer(DEF_RPM, STEPS_PER_REVOLUTION); StepperTimer servoStepperTimer(DEF_RPM, STEPS_PER_REVOLUTION);

2
Firmware/EggbotWireless/src/Stepper.cpp
View File

@@ -163,8 +163,6 @@ void Stepper::step(int steps) {
backlashComp == typeBoth) { backlashComp == typeBoth) {
remainingSteps += backlashSteps; remainingSteps += backlashSteps;
} }
remainingSteps += backlashSteps;
} }
direction = false; direction = false;
remainingSteps += abs(steps); remainingSteps += abs(steps);