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make command a struct

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This commit is contained in:
Stepan Usatiuk
2019-07-13 23:49:15 +03:00
parent f139333bba
commit e4e3e5e00a
9 changed files with 174 additions and 70 deletions
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51
Firmware/MotorControl/src/main.cpp
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@@ -34,44 +34,44 @@ void adjustRPM() {
sei();
}
int curFloat = 0;
float command[4];
Command command;
bool newCommand = false;
bool executing = false;
int curByte = 0;
byte rxBuffer[4];
int curFloat = 0;
byte rxBuffer[7][sizeof(float)];
void receiveEvent(int howMany) {
while (Wire.available() > 0) {
if (!newCommand) {
char c = Wire.read();
rxBuffer[curByte] = c;
rxBuffer[curFloat][curByte] = c;
curByte++;
if (curByte == 4) {
curByte = 0;
bytesToFloat(&command[curFloat], rxBuffer);
curFloat++;
}
if (curFloat == 4) {
if (curFloat == 7) {
curFloat = 0;
command.fromBytes(rxBuffer[0]);
newCommand = true;
}
}
}
}
byte txBuffer[5 * sizeof(float)];
byte txBuffer[5][sizeof(float)];
void requestEvent() {
if (command[0] == M99) {
floatToBytes(&txBuffer[0], servoStepper.getPos());
floatToBytes(&txBuffer[sizeof(float)], eggStepper.getPos());
if (command.type == CommandType::M99) {
floatToBytes(txBuffer[0], servoStepper.getPos());
floatToBytes(txBuffer[1], eggStepper.getPos());
floatToBytes(&txBuffer[sizeof(float) * 2], servoStepper.getPosMm());
floatToBytes(&txBuffer[sizeof(float) * 3], eggStepper.getPosMm());
floatToBytes(txBuffer[2], servoStepper.getPosMm());
floatToBytes(txBuffer[3], eggStepper.getPosMm());
floatToBytes(&txBuffer[sizeof(float) * 4], (float)pen.getEngaged());
Wire.write(txBuffer, 5 * sizeof(float));
floatToBytes(txBuffer[4], (float)pen.getEngaged());
Wire.write(txBuffer[0], 5 * sizeof(float));
} else if (executing || newCommand) {
Wire.write(WAIT);
} else {
@@ -81,26 +81,27 @@ void requestEvent() {
void execCommand() {
executing = true;
if (command[0] == G01 || command[0] == G00) {
if (command[0] == G01) {
if (command.type == CommandType::G01 || command.type == CommandType::G00) {
if (command.type == CommandType::G01) {
needAdjust = true;
} else {
needAdjust = false;
}
if (!isnan(command[X])) {
servoStepper.moveTo(command[X]);
if (!isnan(command.arg1)) {
servoStepper.moveTo(command.arg1);
}
if (!isnan(command[Y])) {
eggStepper.moveTo(command[Y]);
if (!isnan(command.arg2)) {
eggStepper.moveTo(command.arg2);
}
if (!isnan(command[Z])) {
if (command[Z] < 0) {
if (!isnan(command.arg3)) {
if (command.arg3 < 0) {
pen.engage();
}
if (command[Z] >= 0) {
if (command.arg3 >= 0) {
pen.disengage();
}
}
@@ -127,11 +128,11 @@ void setup() {
pen.init();
}
unsigned int ms = 0;
volatile unsigned int ms = 0;
ISR(TIMER0_COMPA_vect) {
ms++;
if (ms % adjustDelay == 0) {
if (ms % adjustDelay == 0) {
adjustRPM();
}
if (ms % eggStepperDelay == 0) {