bugfixes

through HTequi development

Atm_AccelStepper.cpp

@@ -80,7 +80,7 @@ int Atm_AccelStepper::event( int id ) {
           return limitHigh_State;
       }
     case EVT_ON_TARGET:
-      return _currentStep == _targetStep;
+      return runMode ? 0 : _currentStep == _targetStep;
     case EVT_HOMING_LOW:
       return 0;
     case EVT_HOMING_HIGH:
@@ -109,14 +109,17 @@ void Atm_AccelStepper::action( int id ) {
       digitalWrite(_enablePin, enabled);
       return;
     case ENT_ENABLED:
+      _isHoming = 0 ;
+      if(last_trigger == EVT_ON_TARGET){push( connectors, ON_ONTARGET, 0, _currentStep, 0 );};
       push(connectors, ON_CHANGESTATE, 0,  state(), 0);
       enabled = _enableReversed ? LOW : HIGH ;
       digitalWrite(_enablePin, enabled);
-      if(last_trigger == EVT_ON_TARGET){push( connectors, ON_ONTARGET, 0, stepper->currentPosition(), 0 );};
+
 
       return;
     case ENT_RUNNING:
       push(connectors, ON_CHANGESTATE, 0,  state(), 0);
+      _isHoming = 0;
       //push(connectors, ON_CHANGEPOSITION, 0,  _currentStep, stepper->speed());
       position_timer.setFromNow(this, POSITION_SEND_TIMER);
       return;
@@ -126,6 +129,7 @@ void Atm_AccelStepper::action( int id ) {
     case ENT_STOP:
     push(connectors, ON_CHANGESTATE, 0,  state(), 0);
       if (last_trigger == EVT_STOP) {
+        runMode = 0 ;
         stepper->stop();
         _targetStep = stepper->targetPosition();
         push( connectors, ON_STOP, 0, 0, 0 );
@@ -143,7 +147,9 @@ void Atm_AccelStepper::action( int id ) {
       _currentStep = stepper->currentPosition();
       return;
     case ENT_HOMING_LOW:
+      push(connectors, ON_CHANGESTATE, 0,  state(), 0);
       runMode = 1;
+      _isHoming = 1 ;
       stepper->setSpeed(-1*homing_speed);
       return;
     case LP_HOMING_LOW:
@@ -156,10 +162,13 @@ void Atm_AccelStepper::action( int id ) {
         Serial.println("homing low done");
       }
       else{Serial.println("homing low failed");}
+      _targetStep = _currentStep;
 
       return;
     case ENT_HOMING_HIGH:
+      push(connectors, ON_CHANGESTATE, 0,  state(), 0);
       runMode = 1;
+      _isHoming = 2 ;
       stepper->setSpeed(homing_speed);
       return;
     case LP_HOMING_HIGH:
@@ -172,12 +181,15 @@ void Atm_AccelStepper::action( int id ) {
         Serial.println("homing high done");
       }
       else{Serial.println("homing high failed");}
+      _targetStep = _currentStep;
       return;
     case ENT_LIMIT_LOW:
       push( connectors, ON_ONLIMITLOW, 0, 0, 0 );
       //stop motor if going down, allow going up
       if(_limitLow_Hard && (stepper->speed()<0) ) {trigger(EVT_EMERGENCY_STOP);}
-      else{stepper_update(); trigger(EVT_MOVE);}
+      else{
+        stepper_update();
+         switch(_isHoming) trigger.EVT_HOMINGtrigger(EVT_MOVE);}
       return;
     case ENT_LIMIT_HIGH:
       push( connectors, ON_ONLIMITHIGH, 0, 1, 0 );
@@ -255,6 +267,7 @@ Atm_AccelStepper& Atm_AccelStepper::position_refresh(long int refresh_ms){
 Atm_AccelStepper& Atm_AccelStepper::move( long int stepRel) {
   _targetStep   = _currentStep + stepRel;
   runMode = 0;
+  _isHoming = 0;
   //Serial.println(_targetStep);
   stepper->moveTo(_targetStep);
   enable();
@@ -264,6 +277,7 @@ Atm_AccelStepper& Atm_AccelStepper::move( long int stepRel) {
 
 Atm_AccelStepper& Atm_AccelStepper::moveTo( long int stepAbs) {
   _targetStep   = stepAbs;
+  _isHoming = 0 ;
   runMode = 0;
   stepper->moveTo(_targetStep);
   enable();
@@ -273,6 +287,7 @@ Atm_AccelStepper& Atm_AccelStepper::moveTo( long int stepAbs) {
 
 Atm_AccelStepper& Atm_AccelStepper::rotate( long  int speed) {
   runMode = 1;
+  _isHoming = 0 ;
   stepper->setSpeed( speed);
   enable();
   trigger( EVT_MOVE );
@@ -280,7 +295,11 @@ Atm_AccelStepper& Atm_AccelStepper::rotate( long  int speed) {
 }
 
 Atm_AccelStepper& Atm_AccelStepper::homing( bool direction ){
+  enable();
+  direction == 1 ? _isHoming = 2 : _isHoming = 1;
   direction == 1 ? this->trigger(EVT_HOMING_HIGH) : this->trigger(EVT_HOMING_LOW);
+
+  return *this;
 }
 
 // Atm_AccelStepper& Atm_AccelStepper::rotationReversed(bool reversed){

Atm_AccelStepper.h

@@ -42,7 +42,7 @@ class Atm_AccelStepper: public Machine {
 
   AccelStepper *stepper;
 
-  long int homing_speed = 500;
+  long int homing_speed = 100;
   long int max_speed = 5000;
   long int acceleration = 1000;
   Atm_AccelStepper& setMaxSpeed( long int maxSpeed = 5000);
@@ -106,6 +106,7 @@ class Atm_AccelStepper: public Machine {
   bool _limitHigh_Reversed ; //invert logic of limit switches
   int _limitHigh_Thresholds[2] ; //analog value  range for two analog limits
   bool _limitHigh_Hard = 1 ;
+  int _isHoming = 0 ;
   void updateLimitSwitch();
 
 };