Submitted by Inco on Sun, 03/28/2010 - 17:53
Posted in
Hello again
testing the last version I have found that the command
status moved motor# always returns 0
status home motor# works ok
monitoring the serial port I have seen that the openmoco sends always 0
and the code is ok
case 11:
// motor steps moved
serial_write((byte)1);
serial_write((byte)4);
serial_write( motor_steps_moved[input_serial_buffer[2]] );
sent = true;
break;
is always motor_steps_moved=0 ?
best regards
Inco.
[42] > motor 0 enable on
[set_motor] Set Motor 0 'enable' => 'on'
[43] > motor 0 dir 1 steps 100
[set_motor] Set Motor 0 'dir' => '1'
[44] > motor 0 steps 100
[set_motor] Set Motor 0 'steps' => '100'
[45] > motor 0 home on
[set_motor] Set Motor 0 'home' => 'on'
[46] > camera on
[set_camera] Set Camera Enable/Disable => 'on'
[47] > start
Starting Execution
[48] > status moved 0
moved, 0 = 0
[49] > status home 0
home, 0 = 1400
[50] > status moved 0
moved, 0 = 0
[51] > status home 0
home, 0 = 1900
[52] > stop
Stopping Execution
[53] > status home 0
home, 0 = 2900
[54] > status moved 0
moved, 0 = 0
[55] >
Inco, you are correct - the
Inco, you are correct - the problem was caused by a recent change in 0.82, used to prevent calculating motor steps moved for repeat cycle motor movements.
The latest check-in fixes this issue and the typedef issue you found previously. The problem here is an order of operations error, what was:
(line 165 of OM_Motor_Control.pde)
motor_steps_moved[motor] += (unsigned long) ( steps - backlash_val );
Needs to be:
motor_steps_moved[motor] += (unsigned long) ( steps - backlash_val );
!c