Commit 67c86147 authored by Jake Read's avatar Jake Read

verbose flag for less logging on stepper and planner

parent c96e76cb
......@@ -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)
}
......
......@@ -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) {
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment