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kinematics

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PROFERIS - Mi³osz Stocki
2026-07-08 13:12:12 +02:00
parent 92820e8a15
commit cf71803fc4
3 changed files with 23 additions and 14 deletions
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src/main.cpp
+19 -6
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@@ -118,19 +118,32 @@ class CmdCallbacks : public BLECharacteristicCallbacks {
// ─── Command parser ─────────────────────────────────────────────── // ─── Command parser ───────────────────────────────────────────────
void parseCommand(const String &cmd) { void parseCommand(const String &cmd) {
// S1+<n> or S1-<n> // S1+<n> or S1-<n> (Relative)
if (cmd.startsWith("S1") && cmd.length() > 2) { if (cmd.startsWith("S1") && cmd.length() > 2) {
long steps = long steps = cmd.substring(2).toInt();
cmd.substring(2).toInt(); // '+' or '-' prefix handled by toInt()
stepper1.move(steps); stepper1.move(steps);
Serial.printf("[S1] Move %+ld steps\n", steps); Serial.printf("[S1] Move relative %+ld steps\n", steps);
return; return;
} }
// S2+<n> or S2-<n> // S2+<n> or S2-<n> (Relative)
if (cmd.startsWith("S2") && cmd.length() > 2) { if (cmd.startsWith("S2") && cmd.length() > 2) {
long steps = cmd.substring(2).toInt(); long steps = cmd.substring(2).toInt();
stepper2.move(steps); stepper2.move(steps);
Serial.printf("[S2] Move %+ld steps\n", steps); Serial.printf("[S2] Move relative %+ld steps\n", steps);
return;
}
// X1:<n> (Absolute)
if (cmd.startsWith("X1:")) {
long target = cmd.substring(3).toInt();
stepper1.moveTo(target);
Serial.printf("[S1] Move absolute to %ld\n", target);
return;
}
// X2:<n> (Absolute)
if (cmd.startsWith("X2:")) {
long target = cmd.substring(3).toInt();
stepper2.moveTo(target);
Serial.printf("[S2] Move absolute to %ld\n", target);
return; return;
} }
// SPD:<n> // SPD:<n>
web/js/sections/stepper-test.js
+2 -4
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@@ -197,11 +197,9 @@ async function moveToXY(targetX, targetY) {
const newSteps1 = IK.radToSteps(theta1); const newSteps1 = IK.radToSteps(theta1);
const newSteps2 = IK.radToSteps(theta2); const newSteps2 = IK.radToSteps(theta2);
const delta1 = newSteps1 - steps1;
const delta2 = newSteps2 - steps2;
const cmd1 = `S1${delta1 >= 0 ? '+' : ''}${delta1}`; const cmd1 = `X1:${newSteps1}`;
const cmd2 = `S2${delta2 >= 0 ? '+' : ''}${delta2}`; const cmd2 = `X2:${newSteps2}`;
if (BLE.isConnected()) { if (BLE.isConnected()) {
try { try {
web/js/sequence-runner.js
+2 -4
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@@ -66,11 +66,9 @@ export default {
const newSteps1 = IK.radToSteps(res.theta1); const newSteps1 = IK.radToSteps(res.theta1);
const newSteps2 = IK.radToSteps(res.theta2); const newSteps2 = IK.radToSteps(res.theta2);
const delta1 = newSteps1 - steps1;
const delta2 = newSteps2 - steps2;
const cmd1 = `S1${delta1 >= 0 ? '+' : ''}${delta1}`; const cmd1 = `X1:${newSteps1}`;
const cmd2 = `S2${delta2 >= 0 ? '+' : ''}${delta2}`; const cmd2 = `X2:${newSteps2}`;
UI.log(`Seq step: ${label}`, 'info'); UI.log(`Seq step: ${label}`, 'info');