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Replaced explicit axes array initializations with conditional one from util.h; Fixed range error in cm_get_axis_char()

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Alden Hart
2018-04-15 06:07:30 -04:00
parent 2c53a2854c
commit 8e7e62cb9a
3 changed files with 11 additions and 14 deletions
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g2core/canonical_machine.cpp
+7 -8
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@@ -1061,8 +1061,7 @@ stat_t cm_set_absolute_origin(const float origin[], bool flag[])
for (uint8_t axis = AXIS_X; axis < AXES; axis++) {
if (flag[axis]) {
// REMOVED value[axis] = cm->offset[cm->gm.coord_system][axis] + _to_millimeters(origin[axis]); // G2 Issue #26
value[axis] = _to_millimeters(origin[axis]); // replaced the above
value[axis] = _to_millimeters(origin[axis]);
cm->gmx.position[axis] = value[axis]; // set model position
cm->gm.target[axis] = value[axis]; // reset model target
mp_set_planner_position(axis, value[axis]); // set mm position
@@ -1197,7 +1196,7 @@ stat_t _goto_stored_position(const float stored_position[], // always in mm
cm_set_absolute_override(MODEL, ABSOLUTE_OVERRIDE_ON_DISPLAY_WITH_OFFSETS); // Position stored in abs coords
cm_set_distance_mode(ABSOLUTE_DISTANCE_MODE); // Must run in absolute distance mode
bool flags2[] = { 1,1,1,1,1,1 };
bool flags2[] = INIT_AXES_TRUE;
stat_t status = cm_straight_traverse(target, flags2, PROFILE_NORMAL); // Go to stored position
cm_set_absolute_override(MODEL, ABSOLUTE_OVERRIDE_OFF);
cm_set_distance_mode(saved_distance_mode); // Restore distance mode
@@ -1697,8 +1696,8 @@ stat_t cm_json_wait(char *json_string)
stat_t cm_run_home(nvObj_t *nv)
{
if (nv->value_int) { // if true
float axes[] = { 1,1,1,1,1,1 };
bool flags[] = { 1,1,1,1,1,1 };
float axes[] = INIT_AXES_ONES;
bool flags[] = INIT_AXES_TRUE;
cm_homing_cycle_start(axes, flags);
}
return (STAT_OK);
@@ -1738,7 +1737,7 @@ stat_t cm_run_jog(nvObj_t *nv)
* _coord() - return coordinate system number (53=0...59=6) or -1 if error
* _axis() - return axis # or -1 if not an axis (works for mapped motors as well)
* cm_get_axis_type() - return linear axis (0), rotary axis (1) or error (-1)
* cm_get_axis_char() - return ASCII char for axis number provided
* cm_get_axis_char() - return ASCII char for internal axis number provided
*/
static int8_t _coord(nvObj_t *nv) // extract coordinate system from 3rd character
@@ -1803,9 +1802,9 @@ cmAxisType cm_get_axis_type(const nvObj_t *nv)
return (AXIS_TYPE_LINEAR);
}
char cm_get_axis_char(const int8_t axis)
char cm_get_axis_char(const int8_t axis) // Uses internal axis numbering
{
char axis_char[] = "XYZABC";
char axis_char[] = "XYZUVWABC";
if ((axis < 0) || (axis > AXES)) return (' ');
return (axis_char[axis]);
}
g2core/cycle_jogging.cpp
+2 -2
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@@ -177,8 +177,8 @@ static stat_t _jogging_axis_ramp_jog(int8_t axis) // run the jog ramp
}
static stat_t _jogging_axis_move(int8_t axis, float target, float velocity) {
float vect[] = { 0,0,0,0,0,0 };
bool flags[] = { false,false,false,false,false,false };
float vect[] = INIT_AXES_ZEROES;
bool flags[] = INIT_AXES_FALSE;
vect[axis] = target;
flags[axis] = true;
g2core/util.h
+2 -4
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@@ -32,13 +32,10 @@
* - support for debugging routines
*/
#include "hardware.h" // for AXES
#ifndef UTIL_H_ONCE
#define UTIL_H_ONCE
#include <stdint.h>
//#include "sam.h"
#include "MotateTimers.h"
using Motate::delay;
using Motate::SysTickTimer;
@@ -78,8 +75,9 @@ float *set_vector_by_axis(float value, uint8_t axis);
#if (AXES == 9)
#define INIT_AXES_ZEROES {0,0,0,0,0,0,0,0,0}
#define INIT_AXES_TRUE {1,1,1,1,1,1,1,1,1}
#define INIT_AXES_ONES {1,1,1,1,1,1,1,1,1}
#define INIT_AXES_FALSE INIT_AXES_ZEROES
#define INIT_AXES_TRUE INIT_AXES_ONES
#else
#warning UNSUPPORTED AXES SETTING!
#endif