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planner.ino

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  • planner.ino 7.10 KiB
    
    void planner()
    {  
      
      for (int a=0;a<max_ax;a++)
      {
        if (speed[a]==null_speed) dir[a]=d_stop;
        if (speed[a]>null_speed) dir[a]=d_up;
        if (speed[a]<null_speed) dir[a]=d_down;  
      }
      
    
      
      for (int a=0;a<max_ax;a++)
      {
        testpos(a);
      }
      
      running=false;
      for (int a=0;a<max_ax;a++)
      {
        if (!sak[a]) running=true;
        
      }
    
      if (running!=lastrunning)
      {
    
    
    
        
        if (running) Serial.println("planner: running");
        else 
        {
          Serial.println("planner: stop");
    
          for (int a=0;a<max_ax;a++)
            {
            if (sak[a] and usebrake[a]) setbrake(a,true);
            }
    
          if (issequence)
          {  
            seq++;
            if (seq==targetcount) {seq=0;}
              delay(1000);
    
              target[0]=targets[seq][0];
              goposax(0);
          }
          /*else 
          {
          if (repeat)
            {
            seq=0;
           if (targets[0][seq]!=maxpos[0]+1)
            {
            delay(1000);
            target[0]=targets[0][seq];
            //goposax(0);
            }
         
          }
       else issequence=false;   
        }*/
      }
      }
      lastrunning=running;
    }