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Basic feedhold operations verified with regression tests

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This commit is contained in:
Alden Hart
2017-02-25 12:33:39 -05:00
parent b74aa9613f
commit a56a09d72e
2 changed files with 10 additions and 10 deletions
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3
g2core/cycle_probing.cpp
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@@ -278,9 +278,6 @@ static stat_t _probing_backoff()
static void _motion_end_callback(float* vect, bool* flag)
{
while (!mp_runtime_is_idle()) {
__NOP(); // block until current segment is done
};
pb.wait_for_motion_end = false;
}

17
g2core/plan_exec.cpp
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@@ -992,17 +992,20 @@ static stat_t _exec_aline_feedhold(mpBuf_t *bf)
if (cm->hold_state == FEEDHOLD_MOTORS_STOPPING) {
if (mp_runtime_is_idle()) { // wait for steppers to actually finish
// finalize position and velocity
copy_vector(mr->position, mr->gm.target); // update position from target
bf->length = get_axis_vector_length(mr->target, mr->position); // reset length in buffer //+++++ TEST THIS
// copy_vector(mr->position, mr->gm.target); // update position from target
// copy_vector(mp->position, mr->position); // update the planner position from the runtime
// bf->length = get_axis_vector_length(mr->target, mr->position); // reset length in buffer //+++++ TEST THIS
mp_zero_segment_velocity(); // for reporting purposes
// when homing or probing don't stay in HOLD or execute entry actions
if ((cm->cycle_state == CYCLE_HOMING) || (cm->cycle_state == CYCLE_PROBE)) {
copy_vector(mp->position, mr->position); // update the planner position from the runtime
bf->length = get_axis_vector_length(mr->target, mr->position); // reset length in buffer //+++++ TEST THIS
cm->hold_state = FEEDHOLD_OFF;
} else if (cm == &cm2) { // if in p2 hold set up a flush
} else if (cm == &cm2) { // if in a p2 hold set up a flush of the p2 planner queue
cm->hold_state = FEEDHOLD_P2_EXIT;
} else {
cm->hold_state = FEEDHOLD_ACTIONS_START; // perform Z-lift, spindle, coolant actions
cm->hold_state = FEEDHOLD_ACTIONS_START; // otherwise perform Z-lift, spindle, coolant actions
}
sr_request_status_report(SR_REQUEST_IMMEDIATE);
@@ -1019,9 +1022,9 @@ static stat_t _exec_aline_feedhold(mpBuf_t *bf)
cm->hold_state = FEEDHOLD_MOTORS_STOPPING; // wait for the motors to come to a complete stop
// No point bothering with the rest of this move if homing or probing
if ((cm->cycle_state == CYCLE_HOMING) || (cm->cycle_state == CYCLE_PROBE)) {
mp_free_run_buffer();
}
// if ((cm->cycle_state == CYCLE_HOMING) || (cm->cycle_state == CYCLE_PROBE)) {
// mp_free_run_buffer();
// }
mp_replan_queue(mp_get_r()); // make it replan all the blocks
return (STAT_OK); // stop mp_exec_aline() from further execution
}