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Added combine commands #27

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merged 5 commits into from
Jan 7, 2024
Merged

Added combine commands #27

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3baac55
prepare for combined motion commands
kanta Dec 31, 2022
79c2d07
/combine/ commands
kanta Dec 31, 2022
1d1796a
Update the Arduino sketch directory
kanta Jan 4, 2023
e288654
Explicitly stated that the SD card is to be opened for read-only.
kanta Jan 7, 2024
6b76858
Update the Arduino sketch folder
kanta Jan 7, 2024
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2 changes: 1 addition & 1 deletion src/boardsDef.h
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@
// #define MZERO_WITH_ZERO_BOOTLOADER

// Common version number
const uint8_t firmwareVersion[3] = {1,2,6};
const uint8_t firmwareVersion[3] = {1,3,0};

#ifdef STEP400_R1
#define PRODUCT_NAME "STEP400"
Expand Down
4 changes: 2 additions & 2 deletions src/loadConfig.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@ void loadConfig() {
{
sdInitializeSucceeded = SD.begin(PIN_SD_CS);
}
File file = SD.open(filename);
File file = SD.open(filename, FILE_READ);
configFileOpenSucceeded = (file != false);
// Allocate a temporary JsonDocument
// Don't forget to change the capacity to match your requirements.
Expand All @@ -29,7 +29,7 @@ void loadConfig() {
}
configFileParseSucceeded = (error == DeserializationError::Ok);
file.close();
SD.end();
// SD.end();
#endif

// Information
Expand Down
180 changes: 150 additions & 30 deletions src/oscListeners.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,17 @@ void OSCMsgReceive()
bMsgRouted |= msgIN.route("/run", run);
bMsgRouted |= msgIN.route("/runRaw", runRaw);

// combined
bMsgRouted |= msgIN.route("/combine/move", combinedMove);
bMsgRouted |= msgIN.route("/combine/goTo", combinedGoTo);
bMsgRouted |= msgIN.route("/combine/goToDir", combinedGoToDir);
bMsgRouted |= msgIN.route("/combine/run", combinedRun);
bMsgRouted |= msgIN.route("/combine/runRaw", combinedRunRaw);
bMsgRouted |= msgIN.route("/combine/hardHiZ", combinedHardHiZ);
bMsgRouted |= msgIN.route("/combine/hardStop", combinedHardStop);
bMsgRouted |= msgIN.route("/combine/softHiZ", combinedSoftHiZ);
bMsgRouted |= msgIN.route("/combine/softStop", combinedSoftStop);

// motion
bMsgRouted |= msgIN.route("/move", move);
bMsgRouted |= msgIN.route("/goTo", goTo);
Expand Down Expand Up @@ -2333,12 +2344,8 @@ void getMark(OSCMessage &msg, int addrOffset)
}
}

void run(OSCMessage &msg, int addrOffset)
void run(uint8_t motorID, float absSpeed, bool dir)
{
uint8_t motorID = getInt(msg, 0);
float stepsPerSec = getFloat(msg, 1);
float absSpeed = fabsf(stepsPerSec);
boolean dir = stepsPerSec > 0.0f;
if (isCorrectMotorId(motorID))
{
motorID -= MOTOR_ID_FIRST;
Expand All @@ -2358,13 +2365,28 @@ void run(OSCMessage &msg, int addrOffset)
}
}
}

void runRaw(OSCMessage &msg, int addrOffset)
void run(OSCMessage &msg, int addrOffset)
{
uint8_t motorID = getInt(msg, 0);
int32_t speed = getInt(msg, 1);
boolean dir = speed > 0;
speed = abs(speed);
float stepsPerSec = getFloat(msg, 1);
float absSpeed = fabsf(stepsPerSec);
boolean dir = stepsPerSec > 0.0f;
run(motorID, absSpeed, dir);
}

void combinedRun(OSCMessage &msg, int addrOffset)
{
uint8_t motorID[2];
motorID[0] = getInt(msg, 0);
motorID[1] = getInt(msg, 1);
float stepsPerSec = getFloat(msg, 2);
float absSpeed = fabsf(stepsPerSec);
boolean dir = stepsPerSec > 0.0f;
run(motorID[0], absSpeed, dir);
run(motorID[1], absSpeed, dir);
}
void runRaw(uint8_t motorID, bool dir, int32_t speed)
{
if (isCorrectMotorId(motorID))
{
motorID -= MOTOR_ID_FIRST;
Expand All @@ -2385,12 +2407,29 @@ void runRaw(OSCMessage &msg, int addrOffset)
}
}

void move(OSCMessage &msg, int addrOffset)
void runRaw(OSCMessage &msg, int addrOffset)
{
uint8_t motorID = getInt(msg, 0);
int32_t steps = getInt(msg, 1);
boolean newDir = steps > 0;
steps = abs(steps);
int32_t speed = getInt(msg, 1);
bool dir = speed > 0;
speed = abs(speed);

runRaw(motorID, dir, speed);
}
void combinedRunRaw(OSCMessage &msg, int addrOffset)
{
uint8_t motorID[2];
motorID[0] = getInt(msg, 0);
motorID[1] = getInt(msg, 1);
int32_t speed = getInt(msg, 2);
bool dir = speed > 0;
speed = abs(speed);
runRaw(motorID[0], dir, speed);
runRaw(motorID[1], dir, speed);
}

void move(uint8_t motorID, bool newDir, int32_t steps)
{
if (isCorrectMotorId(motorID))
{
motorID -= MOTOR_ID_FIRST;
Expand All @@ -2410,7 +2449,25 @@ void move(OSCMessage &msg, int addrOffset)
}
}
}
void move(OSCMessage &msg, int addrOffset)
{
uint8_t motorID = getInt(msg, 0);
int32_t steps = getInt(msg, 1);
bool newDir = steps > 0;
steps = abs(steps);
move(motorID, newDir, steps);
}

void combinedMove(OSCMessage &msg, int addrOffset)
{
uint8_t motorID[2] = { getInt(msg, 0), getInt(msg, 1) };
int32_t steps = getInt(msg, 2);
bool newDir = steps > 0;
steps = abs(steps);
move(motorID[0], newDir, steps);
move(motorID[1], newDir, steps);

}
// Try to clear BUSY flag and return TRUE if succeeded.
// GOTO and GOTO_DIR is only executable when not in BUSY state
// So clear the BUSY with RUN command first.
Expand All @@ -2428,10 +2485,8 @@ bool clearBusyForGoTo(uint8_t motorId)
return true;
}
}
void goTo(OSCMessage &msg, int addrOffset)
void goTo(uint8_t motorID, int32_t pos)
{
uint8_t motorID = getInt(msg, 0);
int32_t pos = getInt(msg, 1);
bool newDir = 0;
if (isCorrectMotorId(motorID))
{
Expand Down Expand Up @@ -2466,11 +2521,22 @@ void goTo(OSCMessage &msg, int addrOffset)
}
}
}
void goToDir(OSCMessage &msg, int addrOffset)
void goTo(OSCMessage &msg, int addrOffset)
{
uint8_t motorID = getInt(msg, 0);
boolean dir = getBool(msg, 1);
int32_t pos = getInt(msg, 1);
goTo(motorID, pos);
}
void combinedGoTo(OSCMessage &msg, int addrOffset)
{
uint8_t motorID[2] = { getInt(msg, 0), getInt(msg, 1) };
int32_t pos = getInt(msg, 2);
goTo(motorID[0], pos);
goTo(motorID[1], pos);
}

void goToDir(uint8_t motorID, bool dir, int32_t pos)
{
if (isCorrectMotorId(motorID))
{
uint8_t motorId = motorID - MOTOR_ID_FIRST;
Expand Down Expand Up @@ -2504,7 +2570,21 @@ void goToDir(OSCMessage &msg, int addrOffset)
}
}
}

void goToDir(OSCMessage &msg, int addrOffset)
{
uint8_t motorID = getInt(msg, 0);
boolean dir = getBool(msg, 1);
int32_t pos = getInt(msg, 2);
goToDir(motorID, dir, pos);
}
void combinedGoToDir(OSCMessage &msg, int addrOffset)
{
uint8_t motorID[2] = { getInt(msg, 0), getInt(msg, 1) };
boolean dir = getBool(msg, 2);
int32_t pos = getInt(msg, 3);
goToDir(motorID[0], dir, pos);
goToDir(motorID[1], dir, pos);
}
void homing(uint8_t motorId)
{
if (bHoming[motorId])
Expand Down Expand Up @@ -2751,10 +2831,8 @@ void resetPos(OSCMessage &msg, int addrOffset)
}
}
}

void softStop(OSCMessage &msg, int addrOffset)
void softStop(uint8_t motorID)
{
uint8_t motorID = getInt(msg, 0);
if (isCorrectMotorId(motorID))
{
uint8_t motorId = motorID - MOTOR_ID_FIRST;
Expand All @@ -2772,9 +2850,19 @@ void softStop(OSCMessage &msg, int addrOffset)
}
}
}
void hardStop(OSCMessage &msg, int addrOffset)
void softStop(OSCMessage &msg, int addrOffset)
{
uint8_t motorID = getInt(msg, 0);
softStop(motorID);
}
void combinedSoftStop(OSCMessage &msg, int addrOffset)
{
uint8_t motorID[2] = { getInt(msg, 0), getInt(msg, 1) };
softStop(motorID[0]);
softStop(motorID[1]);
}
void hardStop(uint8_t motorID)
{
if (isCorrectMotorId(motorID))
{
uint8_t motorId = motorID - MOTOR_ID_FIRST;
Expand All @@ -2792,8 +2880,19 @@ void hardStop(OSCMessage &msg, int addrOffset)
}
}
}
void hardStop(OSCMessage &msg, int addrOffset)
{
uint8_t motorID = getInt(msg, 0);
hardStop(motorID);
}
void combinedHardStop(OSCMessage &msg, int addrOffset)
{
uint8_t motorID[2] = { getInt(msg, 0), getInt(msg, 1) };
hardStop(motorID[0]);
hardStop(motorID[1]);

void softHiZ(uint8_t motorId)
}
void executeSoftHiZ(uint8_t motorId)
{
isServoMode[motorId] = false;
clearHomingStatus(motorId);
Expand All @@ -2816,25 +2915,35 @@ void softHiZ(uint8_t motorId)
stepper[motorId].softHiZ();
}
}
void softHiZ(OSCMessage &msg, int addrOffset)
void softHiZ(uint8_t motorID)
{
uint8_t motorID = getInt(msg, 0);
if (isCorrectMotorId(motorID))
{
motorID -= MOTOR_ID_FIRST;
softHiZ(motorID);
executeSoftHiZ(motorID);
}
else if (motorID == MOTOR_ID_ALL)
{
for (uint8_t i = 0; i < NUM_OF_MOTOR; i++)
{
softHiZ(i);
executeSoftHiZ(i);
}
}
}
void hardHiZ(OSCMessage &msg, int addrOffset)
void softHiZ(OSCMessage &msg, int addrOffset)
{
uint8_t motorID = getInt(msg, 0);
softHiZ(motorID);
}
void combinedSoftHiZ(OSCMessage &msg, int addrOffset)
{
uint8_t motorID[2] = { getInt(msg, 0), getInt(msg, 1) };
softHiZ(motorID[0]);
softHiZ(motorID[1]);

}
void hardHiZ(uint8_t motorID)
{
if (isCorrectMotorId(motorID))
{
uint8_t motorId = motorID - MOTOR_ID_FIRST;
Expand Down Expand Up @@ -2871,6 +2980,17 @@ void hardHiZ(OSCMessage &msg, int addrOffset)
}
}
}
void hardHiZ(OSCMessage &msg, int addrOffset)
{
uint8_t motorID = getInt(msg, 0);
hardHiZ(motorID);
}
void combinedHardHiZ(OSCMessage &msg, int addrOffset)
{
uint8_t motorID[2] = { getInt(msg, 0), getInt(msg, 1) };
hardHiZ(motorID[0]);
hardHiZ(motorID[1]);
}

#ifdef HAVE_BRAKE
void activate(uint8_t motorId, bool state)
Expand Down
9 changes: 9 additions & 0 deletions src/oscListeners.h
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Original file line number Diff line number Diff line change
Expand Up @@ -183,6 +183,15 @@ void hardHiZ(OSCMessage& msg, int addrOffset);
void activate(OSCMessage& msg, int addrOffset);
void free(OSCMessage& msg, int addrOffset);
#endif
void combinedRun(OSCMessage& msg, int addrOffset);
void combinedRunRaw(OSCMessage& msg, int addrOffset);
void combinedMove(OSCMessage& msg, int addrOffset);
void combinedGoTo(OSCMessage& msg, int addrOffset);
void combinedGoToDir(OSCMessage& msg, int addrOffset);
void combinedSoftStop(OSCMessage& msg, int addrOffset);
void combinedHardStop(OSCMessage& msg, int addrOffset);
void combinedSoftHiZ(OSCMessage& msg, int addrOffset);
void combinedHardHiZ(OSCMessage& msg, int addrOffset);

// servo_commands_osc_listener
void setTargetPosition(OSCMessage& msg, int addrOffset);
Expand Down
2 changes: 1 addition & 1 deletion step-series-universal-firmware/boardsDef.h
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@
// #define MZERO_WITH_ZERO_BOOTLOADER

// Common version number
const uint8_t firmwareVersion[3] = {1,2,6};
const uint8_t firmwareVersion[3] = {1,3,0};

#ifdef STEP400_R1
#define PRODUCT_NAME "STEP400"
Expand Down
4 changes: 2 additions & 2 deletions step-series-universal-firmware/loadConfig.cpp
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@ void loadConfig() {
{
sdInitializeSucceeded = SD.begin(PIN_SD_CS);
}
File file = SD.open(filename);
File file = SD.open(filename, FILE_READ);
configFileOpenSucceeded = (file != false);
// Allocate a temporary JsonDocument
// Don't forget to change the capacity to match your requirements.
Expand All @@ -29,7 +29,7 @@ void loadConfig() {
}
configFileParseSucceeded = (error == DeserializationError::Ok);
file.close();
SD.end();
// SD.end();
#endif

// Information
Expand Down
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