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Tuned opening on StepperTest

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This commit is contained in:
Nis Wechselberg 2022-10-20 20:28:57 +02:00
parent 4b2c0478a2
commit 76911cf9fe
1 changed files with 19 additions and 14 deletions
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33
StepperTest/StepperTest.ino
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@ -75,34 +75,39 @@ void setPosition() {
Serial.println(currentPosition[2]); Serial.println(currentPosition[2]);
if (currentPosition[2] != nextPosition[2]) { if (currentPosition[2] != nextPosition[2]) {
rotateCcwTo(nextPosition[2]); rotateCcwTo(nextPosition[2], false);
rotateCcwTo(nextPosition[2]); rotateCcwTo(nextPosition[2], true);
rotateCcwTo(nextPosition[2]); rotateCcwTo(nextPosition[2], true);
rotateCcwTo(nextPosition[2]); rotateCcwTo(nextPosition[2], true);
currentPosition[1] = -1;
} }
if (currentPosition[1] != nextPosition[1]) { if (currentPosition[1] != nextPosition[1]) {
rotateCwTo(nextPosition[1]); rotateCwTo(nextPosition[1], false);
rotateCwTo(nextPosition[1]); rotateCwTo(nextPosition[1], true);
rotateCwTo(nextPosition[1]); rotateCwTo(nextPosition[1], true);
currentPosition[0] = -1;
} }
if (currentPosition[0] != nextPosition[0]) { if (currentPosition[0] != nextPosition[0]) {
rotateCcwTo(nextPosition[0]); rotateCcwTo(nextPosition[0], false);
rotateCcwTo(nextPosition[0]); rotateCcwTo(nextPosition[0], true);
} }
rotateCwTo(10); if (stepperPosition <= 10) {
rotateCwTo(0, true);
}
rotateCwTo(10, false);
currentPosition[0] = nextPosition[0]; currentPosition[0] = nextPosition[0];
currentPosition[1] = nextPosition[1]; currentPosition[1] = nextPosition[1];
currentPosition[2] = nextPosition[2]; currentPosition[2] = nextPosition[2];
} }
void rotateCwTo(int pos) { void rotateCwTo(int pos, boolean forceFullRotation) {
Serial.print("CW to "); Serial.print("CW to ");
Serial.println(pos); Serial.println(pos);
if (stepperPosition == pos) { if (stepperPosition == pos && forceFullRotation) {
// make sure we actually move one whole turn // make sure we actually move one whole turn
stepper.move(-200 * microStepsFactor); stepper.move(-200 * microStepsFactor);
stepper.runToPosition(); stepper.runToPosition();
@ -112,10 +117,10 @@ void rotateCwTo(int pos) {
} }
} }
void rotateCcwTo(int pos) { void rotateCcwTo(int pos, boolean forceFullRotation) {
Serial.print("CCW to "); Serial.print("CCW to ");
Serial.println(pos); Serial.println(pos);
if (stepperPosition == pos) { if (stepperPosition == pos && forceFullRotation) {
// make sure we actually move one whole turn // make sure we actually move one whole turn
stepper.move(200 * microStepsFactor); stepper.move(200 * microStepsFactor);
stepper.runToPosition(); stepper.runToPosition();