osiu97/ESP32-WijiBoard
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PROFERIS - Mi³osz Stocki
2026-07-08 13:30:30 +02:00
parent cf71803fc4
commit eeb2cb191b
3 changed files with 16 additions and 22 deletions
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src/main.cpp
+10 -12
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@@ -132,18 +132,16 @@ void parseCommand(const String &cmd) {
Serial.printf("[S2] Move relative %+ld steps\n", steps); Serial.printf("[S2] Move relative %+ld steps\n", steps);
return; return;
} }
// X1:<n> (Absolute) // X:<n1>,<n2> (Absolute combined)
if (cmd.startsWith("X1:")) { if (cmd.startsWith("X:")) {
long target = cmd.substring(3).toInt(); int commaIdx = cmd.indexOf(',');
stepper1.moveTo(target); if (commaIdx != -1) {
Serial.printf("[S1] Move absolute to %ld\n", target); long target1 = cmd.substring(2, commaIdx).toInt();
return; long target2 = cmd.substring(commaIdx + 1).toInt();
} stepper1.moveTo(target1);
// X2:<n> (Absolute) stepper2.moveTo(target2);
if (cmd.startsWith("X2:")) { Serial.printf("[X] Move absolute to %ld, %ld\n", target1, target2);
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
+3 -5
View File
@@ -198,13 +198,11 @@ 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 cmd1 = `X1:${newSteps1}`; const cmd = `X:${newSteps1},${newSteps2}`;
const cmd2 = `X2:${newSteps2}`;
if (BLE.isConnected()) { if (BLE.isConnected()) {
try { try {
await BLE.write(cmd1); await BLE.write(cmd);
await BLE.write(cmd2);
// Do not update steps1/steps2 here; let the P: notify handler update the UI smoothly // Do not update steps1/steps2 here; let the P: notify handler update the UI smoothly
} catch (e) { } catch (e) {
UI.log(`BLE error: ${e.message}`, 'error'); UI.log(`BLE error: ${e.message}`, 'error');
@@ -213,7 +211,7 @@ async function moveToXY(targetX, targetY) {
steps1 = newSteps1; steps1 = newSteps1;
steps2 = newSteps2; steps2 = newSteps2;
renderArm(theta1, theta2); renderArm(theta1, theta2);
const simMsg = `[sim] IK→ θ1=${IK.radToDeg(theta1).toFixed(1)}° θ2=${IK.radToDeg(theta2).toFixed(1)}° | ${cmd1} ${cmd2}`; const simMsg = `[sim] IK→ θ1=${IK.radToDeg(theta1).toFixed(1)}° θ2=${IK.radToDeg(theta2).toFixed(1)}° | ${cmd}`;
console.log(simMsg); console.log(simMsg);
UI.log(simMsg, 'info'); UI.log(simMsg, 'info');
} }
web/js/sequence-runner.js
+3 -5
View File
@@ -67,15 +67,13 @@ export default {
const newSteps1 = IK.radToSteps(res.theta1); const newSteps1 = IK.radToSteps(res.theta1);
const newSteps2 = IK.radToSteps(res.theta2); const newSteps2 = IK.radToSteps(res.theta2);
const cmd1 = `X1:${newSteps1}`; const cmd = `X:${newSteps1},${newSteps2}`;
const cmd2 = `X2:${newSteps2}`;
UI.log(`Seq step: ${label}`, 'info'); UI.log(`Seq step: ${label}`, 'info');
if (BLE.isConnected()) { if (BLE.isConnected()) {
try { try {
await BLE.write(cmd1); await BLE.write(cmd);
await BLE.write(cmd2);
} catch (e) { } catch (e) {
UI.log(`BLE error: ${e.message}`, 'error'); UI.log(`BLE error: ${e.message}`, 'error');
isRunning = false; isRunning = false;
@@ -88,7 +86,7 @@ export default {
if (onStepComplete) { if (onStepComplete) {
onStepComplete(steps1, steps2); onStepComplete(steps1, steps2);
} }
console.log(`[sim] ${cmd1} ${cmd2}`); console.log(`[sim] ${cmd}`);
} }
// Wait for delay // Wait for delay