changed limit management

don't use events anymore, just triggers a push connector when state
changes
state is used directly in homing and running loops to prevent impossible
moves

Atm_AccelStepper.cpp

@@ -8,14 +8,14 @@ Atm_AccelStepper& Atm_AccelStepper::begin(int step_pin, int dir_pin) {
   // clang-format off
   const static state_t state_table[] PROGMEM = {
     /*                       ON_ENTER           ON_LOOP          ON_EXIT  EVT_DISABLE  EVT_ENABLE  EVT_ENABLED_TIMEOUT    EVT_MOVE  EVT_STOP  EVT_EMERGENCY_STOP  EVT_ON_LIMIT_LOW  EVT_ON_LIMIT_HIGH  EVT_ON_TARGET  EVT_HOMING_LOW  EVT_HOMING_HIGH  ELSE */
-    /*    DISABLE */     ENT_DISABLED,              -1,              -1,         -1,    ENABLED,                  -1,     RUNNING,        -1,                -1,               -1,                -1,            -1,    HOMING_LOW,     HOMING_HIGH,   -1,
-    /*     ENABLED */     ENT_ENABLED,              -1,              -1,    DISABLE,         -1,             DISABLE,     RUNNING,      STOP,              STOP,               -1,                -1,            -1,    HOMING_LOW,     HOMING_HIGH,   -1,
-    /*     RUNNING */     ENT_RUNNING,      LP_RUNNING,              -1,    DISABLE,         -1,                  -1,     RUNNING,      STOP,              STOP,        LIMIT_LOW,        LIMIT_HIGH,       ENABLED,            -1,              -1,   -1,
-    /*        STOP */        ENT_STOP,         LP_STOP,              -1,    DISABLE,         -1,                  -1,     RUNNING,        -1,                -1,               -1,                -1,       ENABLED,            -1,              -1,   -1,
-    /*  HOMING_LOW */  ENT_HOMING_LOW,   LP_HOMING_LOW,  EXT_HOMING_LOW,    DISABLE,         -1,                  -1,          -1,      STOP,              STOP,          ENABLED,          ENABLED,            -1,            -1,              -1,   -1,
-    /* HOMING_HIGH */ ENT_HOMING_HIGH,  LP_HOMING_HIGH, EXT_HOMING_HIGH,    DISABLE,         -1,                  -1,          -1,      STOP,              STOP,          ENABLED,          ENABLED,            -1,            -1,              -1,   -1,
-    /*   LIMIT_LOW */   ENT_LIMIT_LOW,    LP_LIMIT_LOW,              -1,         -1,         -1,                  -1,     RUNNING,      STOP,              STOP,        LIMIT_LOW,                -1,            -1,            -1,              -1,   -1,
-    /*  LIMIT_HIGH */  ENT_LIMIT_HIGH,   LP_LIMIT_HIGH,              -1,         -1,         -1,                  -1,     RUNNING,      STOP,              STOP,               -1,        LIMIT_HIGH,            -1,            -1,              -1,   -1
+    /*    DISABLE */     ENT_DISABLED,              -1,              -1,         -1,    ENABLED,                  -1,     RUNNING,        -1,                -1,          DISABLE,           DISABLE,            -1,    HOMING_LOW,     HOMING_HIGH,   -1,
+    /*     ENABLED */     ENT_ENABLED,              -1,              -1,    DISABLE,         -1,             DISABLE,     RUNNING,      STOP,              STOP,          ENABLED,           ENABLED,            -1,    HOMING_LOW,     HOMING_HIGH,   -1,
+    /*     RUNNING */     ENT_RUNNING,      LP_RUNNING,              -1,    DISABLE,         -1,                  -1,     RUNNING,      STOP,              STOP,          RUNNING,           RUNNING,       ENABLED,            -1,              -1,   -1,
+    /*        STOP */        ENT_STOP,         LP_STOP,              -1,    DISABLE,         -1,                  -1,     RUNNING,      STOP,              STOP,             STOP,              STOP,       ENABLED,            -1,              -1,   -1,
+    /*  HOMING_LOW */  ENT_HOMING_LOW,   LP_HOMING_LOW,  EXT_HOMING_LOW,    DISABLE,         -1,                  -1,          -1,      STOP,              STOP,          HOMING_LOW,           HOMING_LOW,            -1,            -1,              -1,   -1,
+    /* HOMING_HIGH */ ENT_HOMING_HIGH,  LP_HOMING_HIGH, EXT_HOMING_HIGH,    DISABLE,         -1,                  -1,          -1,      STOP,              STOP,          HOMING_HIGH,           HOMING_HIGH,            -1,            -1,              -1,   -1,
+    /*   LIMIT_LOW */   ENT_LIMIT_LOW,    LP_LIMIT_LOW,              -1,         -1,         -1,                  -1,     RUNNING,      STOP,              STOP,               -1,                -1,            -1,            -1,              -1,   -1,
+    /*  LIMIT_HIGH */  ENT_LIMIT_HIGH,   LP_LIMIT_HIGH,              -1,         -1,         -1,                  -1,     RUNNING,      STOP,              STOP,               -1,                -1,            -1,            -1,              -1,   -1
   };
   // clang-format on
   Machine::begin( state_table, ELSE );
@@ -34,7 +34,7 @@ Atm_AccelStepper& Atm_AccelStepper::begin(int step_pin, int dir_pin) {
 
 int Atm_AccelStepper::event( int id ) {
   bool tempState ;
-  bool changed = 0 ;
+
   switch ( id ) {
     case EVT_DISABLE:
       return 0;
@@ -73,6 +73,8 @@ int Atm_AccelStepper::event( int id ) {
         limitLow_State = limitLow_avg(limitLow_State_raw);
         changed = limitLow_State != limitLow_State_prev ? 1 : 0 ;
         limitLow_State_prev = limitLow_State ;
+        //Serial.println(limitLow_State);
+        if (changed){push( connectors, ON_ONLIMITLOW, 0, limitLow_State, 0 );}
         return changed ;
 
 
@@ -100,6 +102,7 @@ int Atm_AccelStepper::event( int id ) {
         limitHigh_State = limitHigh_avg(limitHigh_State_raw);
         changed = limitHigh_State != limitHigh_State_prev ? 1 : 0;
         limitHigh_State_prev = limitHigh_State;
+        if (changed){push( connectors, ON_ONLIMITHIGH, 0, limitHigh_State, 0 );}
         return changed;
 
     case EVT_ON_TARGET:
@@ -156,8 +159,25 @@ void Atm_AccelStepper::action( int id ) {
       //stepper_update();
       //push(connectors, ON_CHANGEPOSITION, 0,  _currentStep, stepper->speed());
       position_timer.setFromNow(this, POSITION_SEND_TIMER);
+      stepper_update();
       return;
     case LP_RUNNING:
+      // if on limits and limits are hard, stop moving in one direction
+      if(limitLow_State && _limitLow_Hard && (stepper->speed()<0.)) {
+          // Serial.println("youpi");
+          _currentStep = stepper->currentPosition();
+          stepper->moveTo(_currentStep);
+          _targetStep = _currentStep;
+          stepper->setSpeed(0);
+        }
+      if(limitHigh_State && _limitHigh_Hard && ((stepper->speed()>0.))) {
+          // Serial.println("youpi");
+          _currentStep = stepper->currentPosition();
+          stepper->moveTo(_currentStep);
+          _targetStep = _currentStep;
+          stepper->setSpeed(0);
+        }
+
       stepper_update();
       if(stepper->speed() == 0.) {trigger(EVT_ON_TARGET);}
       return;
@@ -191,23 +211,46 @@ void Atm_AccelStepper::action( int id ) {
       runMode = 1;
       //_isHoming = 1 ;
       stepper->setSpeed(-1*homing_speed);
+      position_timer.setFromNow(this, POSITION_SEND_TIMER);
       return;
     case LP_HOMING_LOW:
       stepper_update();
+      // if (changed && (limitHigh_State||limitLow_State)){
+        if(limitLow_State) {
+          stepper->setCurrentPosition(0);
+          _currentStep = 0;
+          homingLow_done = 1 ;
+          runMode = 0;
+          trigger(EVT_EMERGENCY_STOP);
+          push(connectors, ON_ONHOMINGLOW, 0,  _currentStep, homingLow_done);
+        }
+        else if (changed && limitHigh_State){
+          homingLow_done = 0 ;
+          runMode = 0;
+          trigger(EVT_EMERGENCY_STOP);
+          push(connectors, ON_ONHOMINGLOW, 0,  _currentStep, homingLow_done);
+        }//Serial.println("homing low failed");}
+
+        // push(connectors, ON_CHANGEPOSITION, 0,  _currentStep, stepper->speed());
+
+
+
+
+      //}
       // push(connectors, ON_CHANGEPOSITION, 0,  _currentStep, stepper->speed());
       return;
     case EXT_HOMING_LOW:
-      runMode = 0;
-      //_isHoming = 0;
-      if(last_trigger == EVT_ON_LIMIT_LOW) {
-        stepper->setCurrentPosition(0);
-        _currentStep = 0;
-        homingLow_done = 1 ;
-      }
-      else{homingLow_done = 0 ;};//Serial.println("homing low failed");}
-      push(connectors, ON_CHANGEPOSITION, 0,  _currentStep, stepper->speed());
-      push(connectors, ON_ONHOMINGLOW, 0,  _currentStep, homingLow_done);
-      trigger(EVT_EMERGENCY_STOP);
+      // runMode = 0;
+      // //_isHoming = 0;
+      // if(last_trigger == EVT_ON_LIMIT_LOW) {
+      //   stepper->setCurrentPosition(0);
+      //   _currentStep = 0;
+      //   homingLow_done = 1 ;
+      // }
+      // else{homingLow_done = 0 ;};//Serial.println("homing low failed");}
+      // push(connectors, ON_CHANGEPOSITION, 0,  _currentStep, stepper->speed());
+      // push(connectors, ON_ONHOMINGLOW, 0,  _currentStep, homingLow_done);
+      // trigger(EVT_EMERGENCY_STOP);
       return;
     case ENT_HOMING_HIGH:
       push(connectors, ON_CHANGESTATE, 0,  state(), 0);
@@ -215,28 +258,52 @@ void Atm_AccelStepper::action( int id ) {
       runMode = 1;
       //_isHoming = 2 ;
       stepper->setSpeed(homing_speed);
+      position_timer.setFromNow(this, POSITION_SEND_TIMER);
       return;
     case LP_HOMING_HIGH:
       stepper_update();
-      // push(connectors, ON_CHANGEPOSITION, 0,  _currentStep, stepper->speed());
-      return;
-    case EXT_HOMING_HIGH:
+      //if (changed && (limitHigh_State||limitLow_State)){
+        if(limitHigh_State) {
+          _maxStep = stepper->currentPosition();
+          _currentStep = _maxStep;
+
+          homingHigh_done = 1;
+          runMode = 0 ;
+          trigger(EVT_EMERGENCY_STOP);
+          push(connectors, ON_ONHOMINGHIGH, 0,  _currentStep, homingHigh_done);
+          //Serial.println("homing high done");
+        }
+        else if (changed && limitLow_State){
+          homingHigh_done = 0;
+          runMode = 0 ;
+          trigger(EVT_EMERGENCY_STOP);
+          push(connectors, ON_ONHOMINGHIGH, 0,  _currentStep, homingHigh_done);
+        }//Serial.println("homing high failed");}
+        // push(connectors, ON_CHANGEPOSITION, 0,  _currentStep, stepper->speed());
 
-      runMode = 0;
-      //_isHoming = 0;
-      if(last_trigger == EVT_ON_LIMIT_HIGH) {
-        _maxStep = stepper->currentPosition();
-        _currentStep = _maxStep;
 
-        homingHigh_done = 1;
-        //Serial.println("homing high done");
-      }
-      else{homingHigh_done = 0;};//Serial.println("homing high failed");}
-      push(connectors, ON_CHANGEPOSITION, 0,  _currentStep, stepper->speed());
-      //_targetStep = _currentStep;
-      push(connectors, ON_ONHOMINGHIGH, 0,  _currentStep, homingHigh_done);
-      trigger(EVT_EMERGENCY_STOP);
+        //stepper_update();
+
+      //}
+      // push(connectors, ON_CHANGEPOSITION, 0,  _currentStep, stepper->speed());
       return;
+    case EXT_HOMING_HIGH:
+      //
+      // runMode = 0;
+      // //_isHoming = 0;
+      // if(last_trigger == EVT_ON_LIMIT_HIGH) {
+      //   _maxStep = stepper->currentPosition();
+      //   _currentStep = _maxStep;
+      //
+      //   homingHigh_done = 1;
+      //   //Serial.println("homing high done");
+      // }
+      // else{homingHigh_done = 0;};//Serial.println("homing high failed");}
+      // push(connectors, ON_CHANGEPOSITION, 0,  _currentStep, stepper->speed());
+      // //_targetStep = _currentStep;
+      // push(connectors, ON_ONHOMINGHIGH, 0,  _currentStep, homingHigh_done);
+      // trigger(EVT_EMERGENCY_STOP);
+      // return;
     case ENT_LIMIT_LOW:
       /*triggered by a change in limit state
        if state is 0, we may leave this state for running
@@ -422,11 +489,11 @@ int Atm_AccelStepper::limitLow_avg(bool limistate){
   } else {
     limitLow_buf_head++;
   }
-  for (int i =0; i<limit_buf_size; i++){
-    Serial.print(limitLow_state_buf[i]);
-    Serial.print(" ");
-  }
-  Serial.println();
+  // for (int i =0; i<limit_buf_size; i++){
+  //   Serial.print(limitLow_state_buf[i]);
+  //   Serial.print(" ");
+  // }
+  // Serial.println();
   return limitLow_state_total > limit_buf_size / 2; //all values should agree
 }
 

Atm_AccelStepper.h

@@ -91,6 +91,7 @@ class Atm_AccelStepper: public Machine {
   int limitHigh_state_total ;
   int limitHigh_buf_head ;
   int limitHigh_avg(bool limitState);
+  bool changed = 0 ;
 
  private:
   // ACTIONS