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Jake Read
rndmc
Commits
67c86147
Commit
67c86147
authored
Nov 26, 2018
by
Jake Read
Browse files
verbose flag for less logging on stepper and planner
parent
c96e76cb
Changes
2
Hide whitespace changes
Inline
Side-by-side
modules/hardware/atkstepper.js
View file @
67c86147
...
...
@@ -15,6 +15,9 @@ function Stepper() {
var
stepper
=
Hardware
()
// log more
var
verbose
=
false
stepper
.
description
.
name
=
'
ATKStepper
'
stepper
.
description
.
alt
=
'
software representation of stepper motor
'
...
...
@@ -184,7 +187,7 @@ function Stepper() {
console
.
log
(
dMove
)
}
console
.
log
(
'
------------------- DMOVE
'
,
state
.
axis
,
dMove
.
steps
)
if
(
verbose
)
console
.
log
(
'
------------------- DMOVE
'
,
state
.
axis
,
dMove
.
steps
)
var
packet
=
new
Array
()
// step blocks are #131
...
...
@@ -195,7 +198,7 @@ function Stepper() {
packet
.
push
(
131
)
}
packet
=
packet
.
concat
(
PCKT
.
pack32
(
dMove
.
steps
))
console
.
log
(
'
------------------- PMOVE
'
,
packet
)
if
(
verbose
)
console
.
log
(
'
------------------- PMOVE
'
,
packet
)
packet
=
packet
.
concat
(
PCKT
.
pack32
(
dMove
.
entry
))
packet
=
packet
.
concat
(
PCKT
.
pack32
(
dMove
.
accel
))
packet
=
packet
.
concat
(
PCKT
.
pack32
(
dMove
.
accelLen
))
...
...
@@ -227,7 +230,7 @@ function Stepper() {
axis
:
state
.
axis
,
increment
:
unitsMade
}
console
.
log
(
"
STEPPER ACK MOVE
"
,
state
.
axis
,
stepsMade
)
if
(
verbose
)
console
.
log
(
"
STEPPER ACK MOVE
"
,
state
.
axis
,
stepsMade
)
stepper
.
outputs
.
ack
.
emit
(
ack
)
stepper
.
outputs
.
position
.
emit
(
state
.
position
)
}
...
...
@@ -240,7 +243,7 @@ function Stepper() {
axis
:
state
.
axis
,
increment
:
0
}
console
.
log
(
"
STEPPER ACK WAIT
"
,
state
.
axis
)
if
(
verbose
)
console
.
log
(
"
STEPPER ACK WAIT
"
,
state
.
axis
)
stepper
.
outputs
.
ack
.
emit
(
ack
)
}
...
...
modules/motion/planner.js
View file @
67c86147
...
...
@@ -23,6 +23,9 @@ function Planner() {
}
}
// log more
var
verbose
=
false
planner
.
state
=
State
()
var
state
=
planner
.
state
// reference pass attempt?
...
...
@@ -92,9 +95,9 @@ function Planner() {
var
newNetState
=
state
.
netState
.
slice
(
0
)
newNetState
[
match
]
-=
1
state
.
netState
=
newNetState
console
.
log
(
'
NEW NET STATE
'
,
newNetState
)
if
(
verbose
)
console
.
log
(
'
NEW NET STATE
'
,
newNetState
)
}
else
{
console
.
log
(
'
ERR: missed axis on ack from stepper
'
)
console
.
log
(
'
ERR
in PLANNER
: missed axis on ack from stepper
'
)
}
netStateRefresh
()
}
...
...
@@ -181,7 +184,7 @@ function Planner() {
state
.
netState
=
state
.
netState
// dereference
var
move
=
JSON
.
parse
(
JSON
.
stringify
(
mq
.
shift
()))
console
.
log
(
"
MOVE FROM PLANNER
"
,
move
)
if
(
verbose
)
console
.
log
(
"
MOVE FROM PLANNER
"
,
move
)
planner
.
outputs
.
moves
.
emit
(
move
)
planner
.
outputs
.
moveComplete
.
emit
(
1
)
}
else
{
...
...
@@ -284,7 +287,7 @@ function Planner() {
// to maximum permissible by JD
// because we know the final exit speed, we'll run the pass from
// back to start
console
.
log
(
'
REV PASS
'
)
if
(
verbose
)
console
.
log
(
'
REV PASS
'
)
for
(
var
i
=
mq
.
length
-
1
;
i
>
0
;
i
--
)
{
// the moves we're junctioning around / transitioning between
var
mqi
=
mq
[
i
-
1
]
...
...
@@ -313,7 +316,7 @@ function Planner() {
// we've swept backwards to make sure we can decelerate into the end point,
// now we need to make sure we can accelerate up to these cornering velocities
// and if not, set the exit speeds appropriately, so that we can get there
console
.
log
(
'
FWD PASS
'
)
if
(
verbose
)
console
.
log
(
'
FWD PASS
'
)
for
(
var
i
=
0
;
i
<
mq
.
length
-
1
;
i
++
)
{
var
mqi
=
mq
[
i
]
var
mqn
=
mq
[
i
+
1
]
...
...
@@ -333,7 +336,7 @@ function Planner() {
// this becomes very useful for turning moves over to stepper motors
// and will give us a time estimate for each move as well,
// we need / want that so that we can set a network buffer length
console
.
log
(
'
TRAPEZOIDS
'
)
if
(
verbose
)
console
.
log
(
'
TRAPEZOIDS
'
)
for
(
var
i
=
0
;
i
<
mq
.
length
;
i
++
)
{
calcTrap
(
mq
[
i
],
accel
,
false
)
if
(
moveTime
(
mq
[
i
])
<
0.1
)
{
...
...
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