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Fix step axis coding

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espr14 2020-12-29 17:17:32 +01:00
parent 922769cefb
commit c1e6567461
1 changed files with 2 additions and 11 deletions
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13
Firmware/xyzcal.cpp
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@ -423,19 +423,10 @@ void set_axes_dir(uint8_t axes, uint8_t dir){
sm4_set_dir(Z_AXIS, dir & Z_AXIS_MASK); sm4_set_dir(Z_AXIS, dir & Z_AXIS_MASK);
} }
void go_step(uint8_t axes){
if (axes & X_AXIS_MASK)
sm4_do_step(X_AXIS);
if (axes & Y_AXIS_MASK)
sm4_do_step(Y_AXIS);
if (axes & Z_AXIS_MASK)
sm4_do_step(Z_AXIS);
}
/// Accelerate up to max.speed (defined by @min_delay_us) /// Accelerate up to max.speed (defined by @min_delay_us)
/// does not update global positions /// does not update global positions
void accelerate_1_step(uint8_t axes, int16_t acc, uint16_t &delay_us, uint16_t min_delay_us){ void accelerate_1_step(uint8_t axes, int16_t acc, uint16_t &delay_us, uint16_t min_delay_us){
go_step(axes); sm4_do_step(axes);
/// keep max speed (avoid extra computation) /// keep max speed (avoid extra computation)
if (acc > 0 && delay_us == min_delay_us){ if (acc > 0 && delay_us == min_delay_us){
@ -492,7 +483,7 @@ bool go_and_stop_1_step(uint8_t axes, int16_t dec, uint16_t &delay_us, uint16_t
uint16_t s = round_to_u16(100 * 0.5f * SQR(0.01f) / (SQR((float)delay_us) * dec)); uint16_t s = round_to_u16(100 * 0.5f * SQR(0.01f) / (SQR((float)delay_us) * dec));
if (steps > s){ if (steps > s){
/// go steady /// go steady
go_step(axes); sm4_do_step(axes);
delayMicroseconds(delay_us); delayMicroseconds(delay_us);
} else { } else {
/// decelerate /// decelerate