planner.ino

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;
}