Select Git revision
planner.ino 6.78 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("running");
else
{
Serial.println("stop");
if (issequence)
{
seq++;
if (targets[0][seq]!=maxpos[0]+1)
{
delay(1000);
target[0]=targets[0][seq];
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;
}
}
//set start values for certain ax