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move command execution out of main.cpp

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This commit is contained in:
Stepan Usatiuk
2019-07-22 11:51:24 +03:00
parent 86e5584641
commit e641afeac8
6 changed files with 120 additions and 89 deletions
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13
Firmware/MotorControl/src/main.cpp
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@@ -65,7 +65,7 @@ void receiveEvent(int howMany) {
byte txBuffer[5][sizeof(float)];
void requestEvent() {
if (command.type == CommandType::M99) {
if (command.type == CommandType::M99 && newCommand) {
floatToBytes(txBuffer[0], servoStepper.getPos());
floatToBytes(txBuffer[1], eggStepper.getPos());
@@ -74,10 +74,11 @@ void requestEvent() {
floatToBytes(txBuffer[4], (float)pen.getEngaged());
Wire.write(txBuffer[0], 5 * sizeof(float));
newCommand = false;
} else if (executing || newCommand) {
Wire.write(WAIT);
Wire.write(static_cast<int>(I2CStatusMsg::WAIT));
} else {
Wire.write(NEXT);
Wire.write(static_cast<int>(I2CStatusMsg::NEXT));
}
}
@@ -85,6 +86,7 @@ void execCommand() {
executing = true;
if (command.type == CommandType::G01 || command.type == CommandType::G00) {
newCommand = false;
if (command.type == CommandType::G01) {
needAdjust = true;
} else {
@@ -109,9 +111,9 @@ void execCommand() {
}
adjustRPM();
return;
}
return;
}
void setup() {
@@ -161,7 +163,6 @@ void updateExecution() {
void loop() {
if (newCommand) {
newCommand = false;
execCommand();
}
updateExecution();