diff --git a/README.md b/README.md
index 3bac1b2b363acac2be83bfd05152ccee59d557e9..a1a33084e46bc50df474c20d76902bd9979c371d 100644
--- a/README.md
+++ b/README.md
@@ -2,6 +2,9 @@
## oy
+- planner reporting lengths that are 100 total when should be 10
+- stepper not having individual instances of state ?
+
- callback-via-hookup ... steppers -> network, planner -> steppers both want this
- understand how callbacks work, how often used, etc, cc @ sean
- button / multiline / 3js UI elements / ui handling throughout ?
diff --git a/server.js b/server.js
index db68de2e7427440047d7dfe80ab6ae7f79ecbc4f..795b9d514f5605c83f96c234e0e8c9b232832884 100644
--- a/server.js
+++ b/server.js
@@ -137,16 +137,20 @@ zm.outputs.ack.attach(planner.inputs.acks)
// same motors / bridge
xm.state.axis = 'X'
+xm.axis = 'X'
xm.outputs.packet.attach(bridge.inputs.A)
bridge.outputs.A.attach(xm.inputs.packet)
yma.state.axis = 'Y'
+yma.axis = 'Y'
yma.outputs.packet.attach(bridge.inputs.B)
bridge.outputs.B.attach(yma.inputs.packet)
ymb.state.axis = 'Y'
+ymb.axis = 'Y'
ymb.state.spu = -200
ymb.outputs.packet.attach(bridge.inputs.C)
bridge.outputs.C.attach(ymb.inputs.packet)
-zm.state.axis = 'Z'
+zm.state.axis = 'ZA'
+zm.axis = 'Z'
zm.outputs.packet.attach(bridge.inputs.D)
bridge.outputs.D.attach(zm.inputs.packet)
@@ -164,9 +168,13 @@ setUiPos(zm, 600, 780)
setUiPos(bridge, 600, 980)
// setting ui elements / state
+planner.state.isRunning = 0
term.state.uiInput = "G1 F100 X10"
term.state.uiInput = "G1 Y10"
-term.state.uiInput = "G1 X5 Y1500"
+term.state.uiInput = "G1 X0"
+term.state.uiInput = "G1 Y0"
+planner.state.isRunning = 1
+
/*
term.state.uiInput = "G1 X0 Y10"
term.state.uiInput = "G1 X-1 Y0"
diff --git a/src/hardware/stepper.js b/src/hardware/stepper.js
index 81f53e7f5d624c47c37d928b62faabe311ea2fa2..e4ca235de0201dbb0a28fe85e48775f27642ede8 100644
--- a/src/hardware/stepper.js
+++ b/src/hardware/stepper.js
@@ -6,110 +6,204 @@ let Output = InOut.Output
let State = InOut.State
let Button = InOut.Button
-const MJS = require ('mathjs')
+const MJS = require('mathjs')
+const DCRT = require('../../lib/cartesian.js')
function Stepper() {
- var stepper = {
- description: {
- name: 'ATK Network Stepper Driver',
- alt: 'software representation of stepper',
- isHardware: true
- }
- }
-
- stepper.state = State()
- state = stepper.state
-
- state.axis = 'X'
- state.spu = 200 // steps per unit
- state.rawMove = -10
-
- state.makeMove = Button('test move')
-
- state.position = 0 // in steps
-
- state.onChange('makeMove', function(){
- onRawMove()
- state.makeMove.isPressed = false
- })
-
- stepper.inputs = {
- move: Input('move instruction', onNewInstruction),
- packet: Input('headless packet', onHardwareIn)
- }
-
- stepper.outputs = {
- ack: Output('move acknowledgement'),
- q: Output('number'), // how much juice used for last move
- packet: Output('headless packet')
- }
-
- function onHardwareIn(pckt){
- console.log('packet from stepper', pckt)
- }
-
- function onRawMove(){
- console.log('raw move for', state.rawMove)
- // finds type of ramp, calculates entry and exit ramp lengths
- var length = Math.abs(state.rawMove)
- var testTrapezoid = calcDiscreteMoves(state.rawMove, 10, 100, length / 2 - length/4, length / 2 + length / 4)
- console.log(testTrapezoid)
- /*
- var machineTrap = calcDiscreteMoves(rawTrap)
- var packet = makeTrapezoidPacket(machineTrap)
- // send it
- stepper.outputs.packet.emit(machineTrap)
- */
- }
-
- function onNewInstruction(move){
- console.log('move to stepper', move)
- // pick out axis (check if it's a wait move)
-
- // write trapezoid
-
- // machine trapezoid
-
- // send and setup for ack ?
- }
-
-
- function calcDiscreteMoves(delta, entry, accel, aLength, dLength){
- // steps, entryspeed, accel, accellength, deccellength
- var dLength = watchRounding(Math.abs(delta * state.spu))
- var dDelta = 0
- if(delta < 0){
- dDelta = - dLength
- } else {
- dDelta = dLength
- }
- var dEntry = watchRounding(entry * state.spu)
- var dAccel = watchRounding(accel * state.spu)
- var dALength = watchRounding(aLength * state.spu)
- var dDLength = watchRounding(dLength * state.spu)
-
- var discreteTrap = {
- // HERE !
- }
- // from float to step conversions, watching for corner (haha) cases
- }
-
- function watchRounding(val){
- var rounded = Math.round(val)
- if(rounded < 0){
- console.log('WATCH ZERO', val, rounded)
- }
- var error = Math.abs(val/rounded - 1)
- if(error > 0.05){
- console.log('WATCH ROUNDING', val, rounded, error)
- }
- }
-
- function makeTrapezoidPacket(machineTrapezoid){
- // make a packit
- }
-
- return stepper
+ var stepper = {
+ description: {
+ name: 'ATK Network Stepper Driver',
+ alt: 'software representation of stepper',
+ isHardware: true
+ }
+ }
+
+ stepper.state = State()
+ state = stepper.state
+
+ state.axis = 'X'
+ state.spu = 200 // steps per unit
+ state.rawMove = -10
+
+ state.makeMove = Button('test move')
+
+ state.lead = 0
+ state.position = 0 // in steps
+
+ state.onChange('makeMove', function() {
+ onRawMove()
+ state.makeMove.isPressed = false
+ })
+
+ stepper.inputs = {
+ move: Input('move instruction', onNewInstruction),
+ packet: Input('headless packet', onHardwareIn)
+ }
+
+ stepper.outputs = {
+ ack: Output('move acknowledgement'),
+ q: Output('number'), // how much juice used for last move
+ packet: Output('headless packet')
+ }
+
+ function onHardwareIn(pckt) {
+ console.log('packet from stepper', pckt)
+ }
+
+ function onRawMove() {
+ console.log('raw move for', state.rawMove)
+ // finds type of ramp, calculates entry and exit ramp lengths
+ var length = Math.abs(state.rawMove)
+ var testTrapezoid = calcDiscreteMoves(state.rawMove, 10, 100, length / 2 - length / 4, length / 2 + length / 4)
+ console.log(testTrapezoid)
+ /*
+ var machineTrap = calcDiscreteMoves(rawTrap)
+ var packet = makeTrapezoidPacket(machineTrap)
+ // send it
+ stepper.outputs.packet.emit(machineTrap)
+ */
+ }
+
+ function onNewInstruction(move) {
+ console.log('move to stepper', stepper.id, state.axis, stepper.axis, stepper.state.axis)
+ // pick out axis (check if it's a wait move)
+ // like
+ /*
+ var move = {
+ p1, p2,
+ cruise, entry, exit,
+ vector,
+ type,
+ t1, d1, t2, d2, t3, d3
+ }
+ */
+
+ // axis values
+ var axisIndex = move.axes.indexOf(state.axis)
+ console.log('axisIndex', axisIndex, state.axis)
+ if (axisIndex == -1) {
+ console.log('STEPPER AXIS NOT FOUND IN MOVE')
+ } else {
+ // have to watch out for zero-lengths on this axis, also
+ var delta = move.p2[axisIndex] - move.p1[axisIndex]
+ console.log('delta', delta)
+ if (delta <= 0) {
+ // find a DOF w/o zlv
+ var fnd = false
+ var altAxis = null
+ for (i in move.p1) {
+ if (Math.abs(move.p2[i] - move.p1[i]) > 0) {
+ altAxis = i
+ }
+ }
+ if (altAxis != null) {
+ var axisMove = pullAxis(move, i)
+ axisMove.isWait = true
+ sendToHardware(axisMove)
+ } else {
+ console.log("ZERO LENGTH INTO STEPPER")
+ }
+ } else {
+ var axisMove = pullAxis(move, axisIndex)
+ axisMove.isWait = false
+ sendToHardware(axisMove)
+ }
+ }
+ }
+
+ function pullAxis(move, i) {
+ // like
+ /*
+ var move = {
+ p1, p2,
+ cruise, entry, exit,
+ vector,
+ type,
+ t1, d1, t2, d2, t3, d3
+ }
+ */
+ /*
+ var pckt = {
+ steps,
+ entry,
+ accel,
+ accelLen,
+ deccelLen
+ }
+ */
+ var delta = move.p2[i] - move.p1[i]
+ var frLen = DCRT.length(move.vector)
+ var rel = Math.abs(delta) / frLen
+
+ console.log(delta, frLen, rel)
+
+ var entry = move.entry * rel
+ var accel = move.accel * rel
+ var accelLen = move.accelLen * rel
+ var deccelLen = move.deccelLen * rel
+
+ var aMove = {
+ delta: delta,
+ entry: entry,
+ accel: accel,
+ accelLen: accelLen,
+ deccelLen: deccelLen
+ }
+
+ console.log('return pull', aMove)
+
+ return aMove
+ }
+
+ function sendToHardware(aMove) {
+ // 'axis' move and discreet move
+ var dMove = {}
+ dMove.steps = watchRounding(aMove.delta)
+ dMove.entry = watchRounding(aMove.entry)
+ dMove.accel = watchRounding(aMove.accel)
+ dMove.accelLen = Math.round(aMove.accelLen)
+ dMove.deccelLen = Math.round(aMove.deccelLen)
+
+ var packet = new Array()
+ // step blocks are #131
+ // wait blocks are #132
+ if(aMove.isWait){
+ packet.push(132)
+ } else {
+ packet.push(131)
+ }
+ packet = packet.concat(pack32(dMove.steps))
+ packet = packet.concat(pack32(dMove.entry))
+ packet = packet.concat(pack32(dMove.accel))
+ packet = packet.concat(pack32(dMove.accelLen))
+ packet = packet.concat(pack32(dMove.deccelLen))
+
+ state.lead = state.lead + dMove.steps
+ stepper.outputs.packet.emit(packet)
+
+ console.log('stepper packet out', packet)
+ }
+
+ function sendToHardware(dMove){
+
+ }
+
+ function watchRounding(val) {
+ var rounded = Math.round(val)
+ if (rounded == 0 ) {
+ console.log('WATCH ZERO', val, rounded)
+ }
+ var error = Math.abs(val / rounded - 1)
+ if (error > 0.05) {
+ console.log('WATCH ROUNDING', val, rounded, error)
+ }
+ }
+
+ function makeTrapezoidPacket(machineTrapezoid) {
+ // make a packit
+ }
+
+ return stepper
}
-module.exports = Stepper
\ No newline at end of file
+module.exports = Stepper
\ No newline at end of file
diff --git a/src/motion/planner.js b/src/motion/planner.js
index 64540b9ea0f9a0e0fc82204fb1190e945b807ce6..cd4d5bf7726ec2901113aa26d51bb457cc472574 100644
--- a/src/motion/planner.js
+++ b/src/motion/planner.js
@@ -54,17 +54,17 @@ function Planner() {
------------------------------------------------------
*/
- function onAck(msg){
+ function onAck(msg) {
console.log("Planner onAck:", msg)
// stepper has moved, ID to position & speed state, count for time to send new move
}
- function axisIDUpdate(){
+ function axisIDUpdate() {
var axes = state.axisIDs.split(',')
var position = new Array(axes.length)
position.fill(0)
var packetState = new Array(axes.length)
- for(i in axes){
+ for (i in axes) {
position.push(0)
packetState.push(0)
// could do
@@ -75,14 +75,44 @@ function Planner() {
console.log(planner)
}
- function onPlannerReset(){
+ function onPlannerReset() {
console.log("RESET PLANNER")
}
- function netStateRefresh(){
-
+ function netStateRefresh() {
+ // if there are less packets on the network than our window
+ // and the planner is running
+ // send a packet
+ if(state.isRunning){
+ var ns = state.netState
+ var i = 0
+ while(ns[i] == ns[i+1]){
+ i ++
+ if(i > ns.length - 1){
+ break
+ }
+ }
+ if(i == ns.length - 1){
+ if(ns[i] < state.netWindow){
+ sendMoveToNetwork()
+ }
+ }
+ }
+ }
+
+ function sendMoveToNetwork(){
+ if(mq.length > 0){
+ for(i in state.netState){
+ state.netState[i] ++
+ }
+ // dereference
+ var move = JSON.parse(JSON.stringify(mq.shift()))
+ console.log("MOVE FROM PLANNER", move)
+ planner.outputs.moves.emit(move)
+ } else {
+ planner.isRunning = 0
+ }
}
-}
/*
------------------------------------------------------
@@ -98,7 +128,7 @@ function Planner() {
var axes = state.axisIDs.split(',')
// we'll make a new move object
- // start and end points
+ // start and end points, and axes to track
var p1 = []
var p2 = new Array(axes.length)
p2.fill(0)
@@ -125,6 +155,7 @@ function Planner() {
console.log('planner throwing zero length vector')
} else {
var newMove = {
+ axes: axes,
p1: p1,
p2: p2,
cruise: move.speed,
@@ -220,7 +251,7 @@ function Planner() {
console.log('TRAPEZOIDS')
for (var i = 0; i < mq.length; i++) {
calcTrap(mq[i], accel, false)
- if(moveTime(mq[i]) < 0.1){
+ if (moveTime(mq[i]) < 0.1) {
console.log("WARN! move time here", moveTime(mq[i]))
}
console.log(moveTime(mq[i]))