diff --git a/firmware/axl-stepper/src/axl b/firmware/axl-stepper/src/axl index 71bf90214692c6a2fb82d121708b91692648376a..eb34931b0991d7c6e257968fe60af13b90b1f629 160000 --- a/firmware/axl-stepper/src/axl +++ b/firmware/axl-stepper/src/axl @@ -1 +1 @@ -Subproject commit 71bf90214692c6a2fb82d121708b91692648376a +Subproject commit eb34931b0991d7c6e257968fe60af13b90b1f629 diff --git a/firmware/axl-stepper/src/main.cpp b/firmware/axl-stepper/src/main.cpp index a35c8e1d22ae8701653b0cd1bf2d5f9ca5e5f4ce..42cfefec4f5ede7641c3466b7fc9374f42f3e9d3 100644 --- a/firmware/axl-stepper/src/main.cpp +++ b/firmware/axl-stepper/src/main.cpp @@ -12,7 +12,15 @@ #include "osape_arduino/vp_arduinoSerial.h" #include "osape_ucbus/vb_ucBusDrop.h" -OSAP osap("axl-stepper_x"); +//OSAP osap("axl-stepper_z-rear-left"); +//OSAP osap("axl-stepper_z-front-left"); +//OSAP osap("axl-stepper_z-rear-right"); +//OSAP osap("axl-stepper_z-front-right"); +OSAP osap("axl-stepper_y-left"); +//OSAP osap("axl-stepper_y-right"); +//OSAP osap("axl-stepper_x"); + +//OSAP osap("axl-stepper_e"); VPort_ArduinoSerial vpUSBSerial(&osap, "arduinoUSBSerial", &Serial); @@ -34,10 +42,17 @@ EP_ONDATA_RESPONSES onStateData(uint8_t* data, uint16_t len){ } // set or target? if(set){ - if(mode == AXL_MODE_POSITION){ - OSAP::error("axl set-pos... havne't written it yet"); - } else { - OSAP::error("we can only 'set' position, others are targs"); + switch(mode){ + case AXL_MODE_POSITION: + if(axl_isMoving()){ + OSAP::error("AXL can't set pos while moving"); + break; + } + axl_setPosition(targ); + break; + default: + OSAP::error("we can only 'set' position, others are targs"); + break; } } else { switch(mode){