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make encoder index search and encoder offset calibration independent

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These two activities are now separate states of the axis state machine.
Each of them can be invoked independently at any time (provided the motor is calibrated).
This commit is contained in:
Samuel Sadok
2018-03-23 16:53:18 -07:00
parent e77dc1697a
commit a2378dbf79
5 changed files with 114 additions and 79 deletions
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Firmware/MotorControl/axis.cpp
+14 -6
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@@ -214,8 +214,10 @@ void Axis::run_state_machine_loop() {
if (requested_state_ == AXIS_STATE_STARTUP_SEQUENCE) {
if (config_.startup_motor_calibration)
task_chain_[pos++] = AXIS_STATE_MOTOR_CALIBRATION;
if (config_.startup_encoder_calibration)
task_chain_[pos++] = AXIS_STATE_ENCODER_CALIBRATION;
if (config_.startup_encoder_index_search && encoder_.config_.use_index)
task_chain_[pos++] = AXIS_STATE_ENCODER_INDEX_SEARCH;
if (config_.startup_encoder_offset_calibration)
task_chain_[pos++] = AXIS_STATE_ENCODER_OFFSET_CALIBRATION;
if (config_.startup_closed_loop_control)
task_chain_[pos++] = AXIS_STATE_CLOSED_LOOP_CONTROL;
else if (config_.startup_sensorless_control)
@@ -223,7 +225,9 @@ void Axis::run_state_machine_loop() {
task_chain_[pos++] = AXIS_STATE_IDLE;
} else if (requested_state_ == AXIS_STATE_FULL_CALIBRATION_SEQUENCE) {
task_chain_[pos++] = AXIS_STATE_MOTOR_CALIBRATION;
task_chain_[pos++] = AXIS_STATE_ENCODER_CALIBRATION;
if (encoder_.config_.use_index)
task_chain_[pos++] = AXIS_STATE_ENCODER_INDEX_SEARCH;
task_chain_[pos++] = AXIS_STATE_ENCODER_OFFSET_CALIBRATION;
task_chain_[pos++] = AXIS_STATE_IDLE;
} else if (requested_state_ != AXIS_STATE_UNDEFINED) {
task_chain_[pos++] = requested_state_;
@@ -239,7 +243,7 @@ void Axis::run_state_machine_loop() {
// Validate the state before running it
if (current_state_ > AXIS_STATE_MOTOR_CALIBRATION && !motor_.is_calibrated_)
current_state_ = AXIS_STATE_UNDEFINED;
if (current_state_ > AXIS_STATE_ENCODER_CALIBRATION && !encoder_.is_calibrated_)
if (current_state_ > AXIS_STATE_ENCODER_OFFSET_CALIBRATION && !encoder_.is_ready_)
current_state_ = AXIS_STATE_UNDEFINED;
// Run the specified state
@@ -250,8 +254,12 @@ void Axis::run_state_machine_loop() {
status = motor_.run_calibration();
break;
case AXIS_STATE_ENCODER_CALIBRATION:
status = encoder_.run_calibration();
case AXIS_STATE_ENCODER_INDEX_SEARCH:
status = encoder_.run_index_search();
break;
case AXIS_STATE_ENCODER_OFFSET_CALIBRATION:
status = encoder_.run_offset_calibration();
break;
case AXIS_STATE_SENSORLESS_CONTROL: