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remove moving flag

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Signed-off-by: Stepan Usatyuk <usaatyuk@ustk.me>
This commit is contained in:
Stepan Usatiuk
2019-05-29 14:52:26 +03:00
parent 1f56ab71a3
commit d386913630
1 changed files with 10 additions and 11 deletions
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11
Firmware/MotorControl/src/main.cpp
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@@ -7,7 +7,6 @@
int curRPM = DEF_RPM;
int adjustDelay = 100;
bool needAdjust;
bool moving;
int calculateDelay(float rpm, int stepsPerRevolution) {
return ((float)1000 * (float)60) / (rpm * (float)stepsPerRevolution);
@@ -29,8 +28,10 @@ void adjustRPM() {
}
}
}
cli();
eggStepperDelay = calculateDelay(eggStepperRPM, STEPS_PER_REVOLUTION);
servoStepperDelay = calculateDelay(servoStepperRPM, STEPS_PER_REVOLUTION);
sei();
}
int curFloat = 0;
@@ -80,7 +81,7 @@ void requestEvent() {
void execCommand(float *command) {
executing = true;
moving = false;
cli();
if (command[0] == G01 || command[0] == G00) {
if (command[0] == G01) {
needAdjust = true;
@@ -107,10 +108,10 @@ void execCommand(float *command) {
adjustRPM();
moving = true;
sei();
return;
}
sei();
}
void setup() {
@@ -133,14 +134,12 @@ unsigned int ms = 0;
ISR(TIMER2_COMP_vect) {
ms++;
if (moving) {
if (ms % eggStepperDelay == 0) {
eggStepper.doStep();
}
if (ms % servoStepperDelay == 0) {
servoStepper.doStep();
}
}
}
void updateExecution() {