Merge branch 'master' of https://gogs.madology.myds.me/titi/Atm_lien

Atm_AccelStepper.cpp

@@ -401,6 +401,7 @@ void Atm_AccelStepper::stepper_update(void) {
       break;
   }
   _currentSpeed = stepper->speed();
+  if (_currentSpeed) {direction = _currentSpeed>0 ? 1 : 0;}
   long int tempStep = stepper->currentPosition();
   if (tempStep != _currentStep){
     _currentStep =  tempStep;
@@ -440,6 +441,31 @@ Atm_AccelStepper& Atm_AccelStepper::setPosition(long int position){
   return *this ;
 }
 
+Atm_AccelStepper& Atm_AccelStepper::setPlayCompensation(long int steps){
+  playSteps = steps ;
+}
+
+bool Atm_AccelStepper::compensatePlay(){ //check if there is a change in direction,
+//use just after _targetStep update and before moving
+  bool newDirection ;
+  switch (runMode) {
+    case 0: //positional modae
+      newDirection = _targetStep > _currentStep;
+      break;
+    case 1: // speed mode
+      newDirection = stepper->speed()>0;
+      break;
+  }
+  if (direction != newDirection){
+    long int compensation = newDirection ? -playSteps : playSteps ;
+    setPosition(_currentStep + compensation);
+    Serial.print("play compensation ");
+    Serial.println(_currentStep);
+    return 1;
+    }
+  else{return 0;}
+}
+
 long int Atm_AccelStepper::getPosition(){
   return stepper->currentPosition();;
 }
@@ -464,6 +490,7 @@ Atm_AccelStepper& Atm_AccelStepper::position_refresh(long int refresh_ms){
 
 Atm_AccelStepper& Atm_AccelStepper::move( long int stepRel) {
   _targetStep   = _currentStep + stepRel;
+  compensatePlay();
   runMode = 0;
   // _isHoming = 0;
   //Serial.println(_targetStep);
@@ -475,6 +502,7 @@ Atm_AccelStepper& Atm_AccelStepper::move( long int stepRel) {
 
 Atm_AccelStepper& Atm_AccelStepper::moveTo( long int stepAbs) {
   _targetStep   = stepAbs;
+  compensatePlay();
   // _isHoming = 0 ;
   runMode = 0;
   stepper->moveTo(_targetStep);
@@ -487,6 +515,7 @@ Atm_AccelStepper& Atm_AccelStepper::movePercent( float percent) {
   // Serial.println(percent/100.)
 
   _targetStep   = (float)_currentStep + percent/100.*float(_maxStep);
+  compensatePlay();
   runMode = 0;
   // _isHoming = 0;
   Serial.println(_targetStep);
@@ -498,6 +527,7 @@ Atm_AccelStepper& Atm_AccelStepper::movePercent( float percent) {
 
 Atm_AccelStepper& Atm_AccelStepper::moveToPercent( float percent) {
   _targetStep   = (float) percent/100*float(_maxStep) ;
+  compensatePlay();
   // _isHoming = 0
   runMode = 0;
   stepper->moveTo(_targetStep);
@@ -510,16 +540,17 @@ Atm_AccelStepper& Atm_AccelStepper::rotate( long  int speed) {
   runMode = 1;
   // _isHoming = 0 ;
   stepper->setSpeed( speed);
-  stepper->runSpeed();
+  compensatePlay();
+  //stepper->runSpeed();
   enable();
   trigger( EVT_MOVE );
   return *this;
 }
 
-Atm_AccelStepper& Atm_AccelStepper::homing( bool direction ){
+Atm_AccelStepper& Atm_AccelStepper::homing( bool homingDirection ){
   enable();
   // direction == 1 ? _isHoming = 2 : _isHoming = 1;
-  direction == 1 ? this->trigger(EVT_HOMING_HIGH) : this->trigger(EVT_HOMING_LOW);
+  homingDirection == 1 ? this->trigger(EVT_HOMING_HIGH) : this->trigger(EVT_HOMING_LOW);
 
   return *this;
 }

Atm_AccelStepper.h

@@ -47,12 +47,16 @@ class Atm_AccelStepper: public Machine {
   bool homingLow_done = 0 ;
   bool homingHigh_done = 0 ;
   long int max_speed = 1000;
+  bool direction ; //0 is towards negative, 1 towards positive
   long int acceleration = 100;
+  long int playSteps = 0; //steps of play to compensate when moving. Added to targetposition when moving towards positive
   Atm_AccelStepper& setMaxStep( long int maxStep );
   Atm_AccelStepper& setMaxSpeed( long int maxSpeed );
   Atm_AccelStepper& setHomingSpeed( long int homingSpeed);
   Atm_AccelStepper& setAcceleration( long int acc);
   Atm_AccelStepper& setPosition( long int position);
+  Atm_AccelStepper& setPlayCompensation(long int steps);
+  bool compensatePlay();
   long int getPosition();
   long int distanceToGo();
   bool isRunning();

Atm_encoderInt.cpp

@@ -1,5 +1,5 @@
 
-//#ifdef Encoder_h_
+#ifdef Encoder_h_
 
 #include "Atm_encoderInt.h"
 #include <limits.h>
@@ -170,4 +170,4 @@ Atm_encoderInt& Atm_encoderInt::trace( Stream& stream ) {
   return *this;
 }
 
-//#endif
+#endif

Atm_led_TLC.cpp

@@ -5,7 +5,7 @@
  *      Author: ian
  */
 
-// #ifdef _ADAFRUIT_TLC59711_H
+#ifdef _ADAFRUIT_TLC59711_H
 
 #include <Atm_led_TLC.h>
 #include <Atm_led.hpp>
@@ -45,4 +45,4 @@ Atm_led_TLC& Atm_led_TLC::setMinMax(int min, int max) {
 	return *this;
 }
 
-// #endif
+#endif

Atm_led_WS2812.cpp

@@ -5,7 +5,7 @@
  *      Author: ian
  */
 
-// #ifdef FASTLED_INTERNAL
+ #ifdef FASTLED_INTERNAL
 
 #include <Atm_led_WS2812.h>
 #include <Atm_led.hpp>
@@ -57,4 +57,4 @@ Atm_led_WS2812& Atm_led_WS2812::setHueSat(int hue, int sat) {
 	return *this;
 }
 
-// #endif
+ #endif