.gitignore @@ -158,8 +158,13 @@ void loop() bot.enableTimerInterrupt(); } - //uncomment this if you want to find out what your status is. -/* + Serial.print("Current: "); + Serial.print(bot.x.current); + Serial.print(" "); + Serial.print(bot.y.current); + Serial.print(" "); + Serial.println(bot.z.current); + Serial.print("At min: "); Serial.print(bot.x.atMin()); Serial.print(" "); @@ -188,5 +193,5 @@ void loop() Serial.print(" "); Serial.println(bot.z.can_step); delay(1000); -*/ + } 3Axis_DDA_Tester/3Axis_DDA_Tester.pde @@ -119,7 +119,7 @@ void CartesianBot::readState() bool CartesianBot::atTarget() { - return ((x.current == x.target) && (y.current == y.target) && (z.current == z.target)); + return x.atTarget() && y.atTarget() && z.atTarget(); } void CartesianBot::setupTimerInterrupt() library/CartesianBot/CartesianBot.cpp @@ -45,6 +45,17 @@ bool LinearAxis::atMax() //return digitalRead(this->max_pin); } +/* +* Used for all axis, depending on stepper direction +*/ +bool LinearAxis::atTarget() +{ + if (this->stepper.direction == RS_FORWARD) + return this->current >= this->target; + else + return this->current <= this->target; +} + void LinearAxis::doStep() { //gotta call readState() before you can step again! library/LinearAxis/LinearAxis.cpp @@ -34,6 +34,7 @@ class LinearAxis { void doStep(); bool atMin(); bool atMax(); + bool atTarget(); //various position things. void setPosition(long position); library/LinearAxis/LinearAxis.h 8c3d8cf1e4ff619a7389384f1a7d304a8f7da3c0 Alexandre Girard alx.girard@gmail.com http://github.com/alx/reprap-arduino-firmware/commit/66df61678d3a83a4fa6097bc11610ca28d5f06da 66df61678d3a83a4fa6097bc11610ca28d5f06da 2008-05-19T11:45:24-07:00 2008-05-19T11:45:24-07:00 Add atTarget on LinearAxis, comparaison jumped with enableTimerInterrupt e41c218f878611a5339a1186379718027ba64e4b Alexandre Girard alx.girard@gmail.com