acceleration bugfix, more sync controls

OSCstepperCtl.pd

@@ -51,11 +51,11 @@
 #X msg 204 505 \$1;
 #X obj 204 527 == 3;
 #X msg 67 429 /home;
-#N canvas 221 565 450 428 syncControl 1;
+#N canvas 221 565 1323 428 syncControl 1;
 #X floatatom 42 238 5 0 0 0 - - -, f 5;
 #X floatatom 218 245 5 0 0 0 - - -, f 5;
 #X obj 23 19 unauthorized/grid grid1 200 -2 2 200 -2 2 1 0.01 0.01
-2 2 43 211;
+2 2 120 117;
 #X obj 23 270 t f f;
 #X obj 23 311 abs;
 #X obj 23 332 s /stepper/0/manualSpeed;
@@ -65,11 +65,19 @@
 #X obj 70 308 s /stepper/0/manualDirection;
 #X obj 242 275 t f f;
 #X obj 242 316 abs;
-#X obj 342 284 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 0
+#X obj 342 284 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 1
 1;
 #X obj 289 292 > 0;
 #X obj 289 313 s /stepper/1/manualDirection;
 #X obj 242 337 s /stepper/1/manualSpeed;
+#X obj 240 21 tgl 15 0 empty empty MANUEL 17 7 0 10 -262144 -1 -1 0
+1;
+#X msg 241 62 \; /stepper/0/manualDrive \$1 \; /stepper/1/manualDrive
+\$1;
+#X obj 572 46 bng 15 250 50 0 empty empty empty 17 7 0 10 -262144 -1
+-1;
+#X msg 572 66 \; /stepper/0/move/go bang \; /stepper/1/move/go bang
+;
 #X connect 2 0 0 0;
 #X connect 2 0 3 0;
 #X connect 2 1 1 0;
@@ -84,6 +92,8 @@
 #X connect 10 0 14 0;
 #X connect 12 0 11 0;
 #X connect 12 0 13 0;
+#X connect 15 0 16 0;
+#X connect 17 0 18 0;
 #X restore 15 261 pd syncControl;
 #X obj 348 13 kostepper 1;
 #X obj 12 13 kostepper 0;

kostepper.pd

@@ -5,7 +5,7 @@
 0;
 #X obj 220 172 cnv 15 180 100 empty empty Move 2 8 0 14 -233017 -128992
 0;
-#X obj 60 19 r /fromOSC;
+#X obj 103 19 r /fromOSC;
 #X floatatom 140 195 10 0 0 0 - - -, f 10;
 #X floatatom 141 213 10 0 0 0 - - -, f 10;
 #X floatatom 141 231 10 0 0 0 - - -, f 10;
@@ -14,7 +14,7 @@
 #X text 101 213 target;
 #X text 107 231 speed;
 #X text 89 249 maxspeed;
-#X obj 148 82 print stepper\$1;
+#X obj 148 64 print stepper\$1;
 #N canvas 1 55 450 300 filter\$1 0;
 #X obj 60 41 t a a;
 #X obj 92 89 == \$1;
@@ -28,7 +28,7 @@
 #X connect 2 0 5 0;
 #X connect 3 0 1 0;
 #X connect 4 0 0 0;
-#X restore 60 47 pd filter\$1;
+#X restore 103 39 pd filter\$1;
 #N canvas 132 527 450 300 conversion 0;
 #X obj 97 9 inlet;
 #X obj 97 30 unpack f f f f f;
@@ -53,29 +53,29 @@
 #X connect 9 0 4 0;
 #X connect 10 0 5 0;
 #X connect 11 0 6 0;
-#X restore 105 126 pd conversion;
-#X obj 103 105 route /status /onTarget;
+#X restore 103 106 pd conversion;
+#X obj 103 84 route /status /onTarget;
 #X obj 224 250 bng 15 250 50 0 empty empty done 17 7 0 10 -262144 -1
 -1;
 #X obj 180 282 vsl 12 60 0 2 0 0 /stepper/\$1/manualSpeed /stepper/\$1/manualSpeed
-speed -10 70 0 10 -262144 -1 -1 89 1;
+speed -10 70 0 10 -262144 -1 -1 797 1;
 #X obj 105 344 hradio 15 1 0 2 /stepper/\$1/manualDirection /stepper/\$1/manualDirection
 direction -10 22 0 10 -262144 -1 -1 0;
-#X obj 225 222 bng 25 250 50 0 empty empty GO 6 13 0 10 -4034 -1 -1
-;
+#X obj 225 222 bng 25 250 50 0 /stepper/\$1/move/go /stepper/\$1/move/go
+GO 6 13 0 10 -4034 -1 -1;
 #X obj 297 281 tof/menubutton 100 25 \$0-mbS \$0-mbR 1 grey90 black
-grey95 black -1 \, test (autre copie).move \, test.move \, test (3e copie).move
+grey95 black 0 \, none \, test (autre copie).move \, test.move \, test (3e copie).move
 \, test (4e copie).move \, test (copie).move;
-#X obj 649 81 list prepend add;
-#X obj 649 102 list trim;
-#X obj 322 62 ofGetPatchDirectory;
-#X obj 322 37 bng 15 250 50 0 empty empty empty 17 7 0 10 -262144 -1
+#X obj 488 204 list prepend add;
+#X obj 488 225 list trim;
+#X obj 484 104 ofGetPatchDirectory;
+#X obj 484 79 bng 15 250 50 0 empty empty empty 17 7 0 10 -262144 -1
 -1;
-#X text 343 37 get the list of file names in a directory.;
-#X msg 646 29 symbol \$1/moves;
-#X symbolatom 322 83 50 0 0 0 - - -, f 50;
+#X text 505 79 get the list of file names in a directory.;
+#X msg 485 152 symbol \$1/moves;
+#X symbolatom 484 125 50 0 0 0 - - -, f 50;
 #X obj 811 100 print;
-#X obj 654 59 ofGetDirectoryFileNames move;
+#X obj 493 182 ofGetDirectoryFileNames move;
 #N canvas 1 55 450 300 \$0-osc 0;
 #X obj 47 13 kollabs/osc_bi \$2 /stepper/\$1/driveMode;
 #X obj 47 103 kollabs/osc_bi \$2 /stepper/\$1/move;
@@ -87,92 +87,105 @@ grey95 black -1 \, test (autre copie).move \, test.move \, test (3e copie).move
 #X obj 47 53 kollabs/osc_bi \$2 /stepper/\$1/manualDrive;
 #X obj 47 -6 kollabs/osc_bi \$2 /stepper/\$1/updateStatus;
 #X restore 1404 48 pd \$0-osc;
-#X obj 975 166 route 0 1;
-#X obj 975 122 r /stepper/\$1/manualDrive;
-#X obj 932 211 r /stepper/\$1/accMode;
-#X obj 975 143 t f f;
-#X obj 975 250 f;
-#X msg 1000 186 2;
-#X obj 976 299 s /stepper/\$1/driveMode;
-#X obj 975 271 spigot;
-#X obj 1030 249 == 0;
+#X obj 952 251 route 0 1;
+#X obj 952 207 r /stepper/\$1/manualDrive;
+#X obj 909 296 r /stepper/\$1/accMode;
+#X obj 952 228 t f f;
+#X obj 952 335 f;
+#X msg 977 271 2;
+#X obj 953 384 s /stepper/\$1/driveMode;
+#X obj 952 356 spigot;
+#X obj 1007 334 == 0;
 #X obj 106 298 tgl 35 0 /stepper/\$1/manualDrive /stepper/\$1/manualDrive
 empty 17 7 0 10 -204800 -33289 -1 0 1;
 #X obj 364 176 tgl 15 0 /stepper/\$1/accMode empty 0/1 17 7 0 10 -262144
--1 -1 0 1;
-#X text 1010 94 SET DRIVE MODE;
-#X obj 631 403 / 60;
-#X obj 631 380 r /stepper/\$1/setMaxSpeed;
-#X obj 888 583 r /stepper/\$1/driveMode;
-#X obj 507 529 list prepend;
-#X obj 888 671 pack s f f;
-#X obj 945 646 f \$1;
-#X obj 945 624 loadbang;
-#X obj 888 725 s /toOSC;
-#X msg 888 703 /\$1 \$3 \$2;
-#X obj 614 510 r /stepper/\$1/driveMode;
-#X text 907 559 SEND DRIVE MODE;
-#X obj 611 360 r /stepper/\$1/move;
-#X obj 499 445 f \$1;
-#X obj 1134 536 / 60;
-#X obj 1134 558 steps2camrot;
-#X obj 665 431 / 60;
-#X obj 665 408 r /stepper/\$1/acceleration;
-#X obj 507 506 pack f f f f;
-#X obj 507 570 route 0 1;
-#X obj 1134 628 spigot;
-#X obj 1167 586 r /stepper/\$1/driveMode;
-#X obj 1167 607 == 2;
-#X msg 1132 650 setSpeed \$1;
-#X obj 620 561 print;
-#X obj 932 232 == 0;
-#X msg 888 604 driveMode \$1 \, setSpeed 0;
+-1 -1 1 1;
+#X text 987 179 SET DRIVE MODE;
+#X obj 783 476 / 60;
+#X obj 783 453 r /stepper/\$1/setMaxSpeed;
+#X obj 89 626 r /stepper/\$1/driveMode;
+#X obj 659 602 list prepend;
+#X obj 89 714 pack s f f;
+#X obj 146 689 f \$1;
+#X obj 146 667 loadbang;
+#X obj 89 768 s /toOSC;
+#X msg 89 746 /\$1 \$3 \$2;
+#X obj 766 583 r /stepper/\$1/driveMode;
+#X text 108 602 SEND DRIVE MODE;
+#X obj 763 433 r /stepper/\$1/move;
+#X obj 651 518 f \$1;
+#X obj 335 579 / 60;
+#X obj 335 601 steps2camrot;
+#X obj 817 504 / 60;
+#X obj 817 481 r /stepper/\$1/acceleration;
+#X obj 659 579 pack f f f f;
+#X obj 659 643 route 0 1;
+#X obj 335 671 spigot;
+#X obj 368 629 r /stepper/\$1/driveMode;
+#X obj 368 650 == 2;
+#X msg 333 693 setSpeed \$1;
+#X obj 772 634 print;
+#X obj 909 317 == 0;
+#X msg 89 647 driveMode \$1 \, setSpeed 0;
 #X obj 224 203 nbx 4 14 -1e+37 1e+37 0 0 /stepper/\$1/move /stepper/\$1/move
 tours 0 -8 0 10 -262144 -1 -1 0.05 256;
-#X obj 541 669 list;
-#X msg 538 631 move \$2 \$1 \, setSpeed \$3 \$1 \, getStatus \$1 \$1
+#X obj 693 742 list;
+#X msg 690 704 move \$2 \$1 \, setSpeed \$3 \$1 \, getStatus \$1 \$1
 ;
-#X msg 507 600 acceleration \$4 \$1 \, setMaxSpeed \$3 \$1 \, move
-\$2 \$1 \, getStatus \$1 \$1;
-#X text 1225 562 MANUAL SPEED;
-#X obj 1134 512 * 1;
-#X obj 1190 496 t b f;
-#X obj 1161 453 route 0 1;
-#X msg 1161 474 -1;
-#X msg 1190 474 1;
-#X obj 1161 427 r /stepper/\$1/manualDirection;
-#X obj 1134 401 r /stepper/\$1/manualSpeed;
-#X obj 562 425 steps2camrot;
-#X obj 542 381 steps2camrot;
-#X obj 596 453 steps2camrot;
+#X text 426 605 MANUAL SPEED;
+#X obj 335 555 * 1;
+#X obj 391 539 t b f;
+#X obj 362 496 route 0 1;
+#X msg 362 517 -1;
+#X msg 391 517 1;
+#X obj 362 470 r /stepper/\$1/manualDirection;
+#X obj 335 444 r /stepper/\$1/manualSpeed;
+#X obj 714 498 steps2camrot;
+#X obj 694 454 steps2camrot;
+#X obj 748 526 steps2camrot;
 #X obj 168 359 nbx 4 14 -1e+37 1e+37 0 0 /stepper/\$1/manualSpeed /stepper/\$1/manualSpeed
-empty 0 -8 0 10 -262144 -1 -1 0.0301 256;
+empty 0 -8 0 10 -262144 -1 -1 0.2701 256;
 #X obj 295 177 vsl 12 60 0 2 0 0 /stepper/\$1/setMaxSpeed /stepper/\$1/setMaxSpeed
-speed -10 70 0 10 -262144 -1 -1 2400 1;
+speed -10 70 0 10 -262144 -1 -1 29 1;
 #X obj 283 254 nbx 4 14 -1e+37 1e+37 0 0 /stepper/\$1/setMaxSpeed /stepper/\$1/setMaxSpeed
-empty 0 -8 0 10 -262144 -1 -1 0.813559 256;
+empty 0 -8 0 10 -262144 -1 -1 0.01 256;
 #X obj 345 177 vsl 12 60 0 2 0 0 /stepper/\$1/acceleration /stepper/\$1/acceleration
-acc -2 70 0 10 -233017 -233017 -195568 0 1;
+acc -2 70 0 10 -262144 -1 -1 5000 1;
 #X obj 333 254 nbx 4 14 -1e+37 1e+37 0 0 /stepper/\$1/acceleration
-/stepper/\$1/acceleration empty 0 -8 0 10 -262144 -1 -1 0 256;
+/stepper/\$1/acceleration empty 0 -8 0 10 -262144 -1 -1 1.69492 256
+;
 #X obj 220 277 cnv 15 180 100 empty empty presets 2 8 0 14 -233017
 -128992 0;
-#X msg 436 319 clear \, add none;
-#X obj 458 162 r /stepper/\$1/accMode;
-#X obj 458 183 route 0 1;
-#X floatatom 550 205 5 0 0 0 - - -, f 5;
-#X msg 463 202 color 10 10 20;
-#X msg 495 233 color 0 22 22;
+#X obj 320 55 r /stepper/\$1/accMode;
+#X obj 320 76 route 0 1;
+#X msg 320 95 color 10 10 20;
+#X msg 345 116 color 0 22 22;
 #X obj 197 175 bng 15 250 50 0 /stepper/\$1/updateStatus /stepper/\$1/updateStatus
 refresh -45 8 0 10 -262144 -1 -1;
-#X obj 116 481 r /stepper/\$1/updateStatus;
-#X obj 116 502 f \$1;
-#X msg 116 523 /getStatus \$1;
-#X obj 116 544 s /toOSC;
-#X msg 428 265 color 10 10 20;
+#X obj 89 449 r /stepper/\$1/updateStatus;
+#X obj 89 470 f \$1;
+#X msg 89 491 /getStatus \$1;
+#X obj 89 512 s /toOSC;
+#X msg 219 106 color 10 10 20;
 #X obj 252 222 tgl 25 0 empty empty empty 17 7 0 10 -233017 -233017
 -195568 0 1;
-#X msg 437 282 color 14 14 14;
+#X msg 228 123 color 14 14 14;
+#X text 1353 123 prise en compte du homing;
+#X text 1383 140 -> possibilité de placer le moteur en absolu sur
+360° modulo;
+#X text 1387 155 -> utilisation facultative du point de départ d'un
+move;
+#X msg 454 256 clear \, align 0 \, add none \, set 0;
+#X obj 693 788 s /toOSC;
+#X msg 693 766 /\$1 \$3 \$2;
+#X obj 651 414 r /stepper/\$1/move/go;
+#X obj 248 32 loadbang;
+#X obj 385 153 bng 15 250 50 0 empty empty empty 17 7 0 10 -262144
+-1 -1;
+#X obj 428 320 f \$1;
+#X msg 428 341 /stop \$1;
+#X msg 659 673 acceleration \$4 \$1 \, maxSpeed \$3 \$1 \, move \$2
+\$1 \, getStatus \$1 \$1;
 #X connect 3 0 13 0;
 #X connect 13 0 12 0;
 #X connect 13 0 15 0;
@@ -182,9 +195,8 @@ refresh -45 8 0 10 -262144 -1 -1;
 #X connect 14 4 7 0;
 #X connect 15 0 14 0;
 #X connect 15 1 16 0;
-#X connect 16 0 101 0;
-#X connect 19 0 55 0;
-#X connect 19 0 103 0;
+#X connect 16 0 98 0;
+#X connect 19 0 100 0;
 #X connect 21 0 22 0;
 #X connect 22 0 20 0;
 #X connect 23 0 26 0;
@@ -203,7 +215,7 @@ refresh -45 8 0 10 -262144 -1 -1;
 #X connect 36 0 37 0;
 #X connect 38 0 37 0;
 #X connect 39 0 38 1;
-#X connect 43 0 81 1;
+#X connect 43 0 80 1;
 #X connect 44 0 43 0;
 #X connect 45 0 68 0;
 #X connect 46 0 61 0;
@@ -212,14 +224,14 @@ refresh -45 8 0 10 -262144 -1 -1;
 #X connect 49 0 48 0;
 #X connect 51 0 50 0;
 #X connect 52 0 46 1;
-#X connect 54 0 82 1;
+#X connect 54 0 81 1;
 #X connect 55 0 60 0;
 #X connect 56 0 57 1;
 #X connect 57 0 62 0;
-#X connect 58 0 83 1;
+#X connect 58 0 82 1;
 #X connect 59 0 58 0;
 #X connect 60 0 46 0;
-#X connect 61 0 72 0;
+#X connect 61 0 112 0;
 #X connect 61 1 71 0;
 #X connect 62 0 65 0;
 #X connect 63 0 64 0;
@@ -227,31 +239,37 @@ refresh -45 8 0 10 -262144 -1 -1;
 #X connect 65 0 47 0;
 #X connect 67 0 35 0;
 #X connect 68 0 47 0;
-#X connect 70 0 51 0;
+#X connect 70 0 106 0;
 #X connect 71 0 70 0;
-#X connect 72 0 70 0;
-#X connect 74 0 56 0;
-#X connect 75 0 74 0;
-#X connect 75 1 74 1;
-#X connect 76 0 77 0;
-#X connect 76 1 78 0;
-#X connect 77 0 75 0;
+#X connect 73 0 56 0;
+#X connect 74 0 73 0;
+#X connect 74 1 73 1;
+#X connect 75 0 76 0;
+#X connect 75 1 77 0;
+#X connect 76 0 74 0;
+#X connect 77 0 74 0;
 #X connect 78 0 75 0;
-#X connect 79 0 76 0;
-#X connect 80 0 74 0;
-#X connect 81 0 60 2;
-#X connect 82 0 60 1;
-#X connect 83 0 60 3;
-#X connect 90 0 20 0;
-#X connect 91 0 92 0;
-#X connect 92 0 94 0;
-#X connect 92 1 95 0;
-#X connect 93 0 103 0;
-#X connect 94 0 87 0;
-#X connect 95 0 87 0;
-#X connect 97 0 98 0;
+#X connect 79 0 73 0;
+#X connect 80 0 60 2;
+#X connect 81 0 60 1;
+#X connect 82 0 60 3;
+#X connect 89 0 90 0;
+#X connect 90 0 91 0;
+#X connect 90 1 92 0;
+#X connect 91 0 86 0;
+#X connect 92 0 86 0;
+#X connect 94 0 95 0;
+#X connect 95 0 96 0;
+#X connect 96 0 97 0;
 #X connect 98 0 99 0;
-#X connect 99 0 100 0;
-#X connect 101 0 102 0;
-#X connect 103 0 102 0;
+#X connect 100 0 99 0;
+#X connect 104 0 20 0;
+#X connect 106 0 105 0;
+#X connect 107 0 55 0;
+#X connect 108 0 98 0;
+#X connect 108 0 41 0;
+#X connect 109 0 110 0;
+#X connect 110 0 111 0;
+#X connect 111 0 50 0;
+#X connect 112 0 70 0;
 #X coords 0 -1 1 1 325 230 1 80 150;