Make Dual Axis settable

youseetoo · Jun 20, 2024 · b1fbf64 · b1fbf64
1 parent 106a717
commit b1fbf64
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Showing 4 changed files with 31 additions and 5 deletions.
diff --git a/main/JsonKeys.h b/main/JsonKeys.h
@@ -76,6 +76,7 @@ __attribute__ ((unused)) static const PROGMEM char * key_home_timestarted = "tim
 __attribute__ ((unused)) static const PROGMEM char * key_home_isactive = "isactive";
 __attribute__ ((unused)) static const PROGMEM char * key_home_endposrelease = "endposrelease";
 __attribute__ ((unused)) static const PROGMEM char * key_home_endstoppolarity = "endstoppolarity";
+__attribute__ ((unused)) static const PROGMEM char * key_home_isDualAxis = "dualAxis";
 
 
 __attribute__ ((unused)) static const PROGMEM char * key_encoder = "encoder";

diff --git a/main/src/home/HomeMotor.cpp b/main/src/home/HomeMotor.cpp
@@ -64,7 +64,7 @@ int HomeMotor::act(cJSON *j)
 				motor->data[s]->speed = hdata[s]->homeDirection * abs(hdata[s]->homeSpeed);
 				motor->data[s]->maxspeed = hdata[s]->homeDirection * abs(hdata[s]->homeMaxspeed);
 				motor->startStepper(s);
-				if (s == Stepper::Z and pinConfig.isDualAxisZ)
+				if (s == Stepper::Z and (motor->isDualAxisZ == true))
 				{
 					// we may have a dual axis so we would need to start A too
 					log_i("Starting A too");
@@ -150,7 +150,7 @@ void HomeMotor::checkAndProcessHome(Stepper s, int digitalin_val, FocusMotor *mo
 		// homeInEndposReleaseMode = 2 means we are done
 		// reverse direction to release endstops
 		motor->stopStepper(s);
-		if (s == Stepper::Z and pinConfig.isDualAxisZ)
+		if (s == Stepper::Z and (motor->isDualAxisZ == true))
 		{
 			// we may have a dual axis so we would need to start A too
 			motor->stopStepper(Stepper::A);
@@ -168,7 +168,7 @@ void HomeMotor::checkAndProcessHome(Stepper s, int digitalin_val, FocusMotor *mo
 		log_i("Home Motor %i in endpos release mode  %i", s, hdata[s]->homeInEndposReleaseMode);
 		motor->startStepper(s);
 
-		if (s == Stepper::Z and pinConfig.isDualAxisZ)
+		if (s == Stepper::Z and (motor->isDualAxisZ == true))
 		{
 			// we may have a dual axis so we would need to start A too
 			motor->data[Stepper::A]->speed = -motor->data[Stepper::A]->speed ;
@@ -184,7 +184,7 @@ void HomeMotor::checkAndProcessHome(Stepper s, int digitalin_val, FocusMotor *mo
 		log_i("Home Motor %i in endpos release mode %i", s, hdata[s]->homeInEndposReleaseMode);
 		motor->stopStepper(s);
 		motor->setPosition(s, 0);
-		if (s == Stepper::Z and pinConfig.isDualAxisZ)
+		if (s == Stepper::Z and (motor->isDualAxisZ == true))
 		{
 			// we may have a dual axis so we would need to start A too
 			motor->stopStepper(Stepper::A);
@@ -193,7 +193,7 @@ void HomeMotor::checkAndProcessHome(Stepper s, int digitalin_val, FocusMotor *mo
 		motor->data[s]->isforever = false;
 		log_i("Home Motor X done");
 		sendHomeDone(s);
-		if (s == Stepper::A and pinConfig.isDualAxisZ)
+		if (s == Stepper::A and (motor->isDualAxisZ == true))
 		{
 			// we may have a dual axis so we would need to start A too
 			hdata[Stepper::A]->homeIsActive = false;
@@ -238,4 +238,5 @@ void HomeMotor::setup()
 	{
 		hdata[i] = new HomeData();
 	}
+
 }
diff --git a/main/src/motor/FocusMotor.cpp b/main/src/motor/FocusMotor.cpp
@@ -215,6 +215,20 @@ int FocusMotor::act(cJSON *doc)
 		}
 	}
 
+	// set dual axis if necessary
+	cJSON *dualaxisZ = cJSON_GetObjectItemCaseSensitive(doc, key_home_isDualAxis);
+	if (dualaxisZ != NULL)
+	{
+		// {"task": "/motor_act", "isDualAxisZ": 1}
+		// store this in the preferences
+		Preferences preferences;
+		isDualAxisZ = dualaxisZ->valueint;
+		const char *prefNamespace = "UC2";
+		preferences.begin(prefNamespace, false);
+		preferences.putBool("dualAxZ", isDualAxisZ);
+		log_i("isDualAxisZ is set to: %i", isDualAxisZ);
+		preferences.end();
+	}
 	// set position
 	cJSON *setpos = cJSON_GetObjectItem(doc, key_setposition);
 	// {"task": "/motor_act", "setpos": {"steppers": [{"stepperid": 0, "posval": 100}, {"stepperid": 1, "posval": 0}, {"stepperid": 2, "posval": 0}, {"stepperid": 3, "posval": 0}]}}
@@ -550,6 +564,14 @@ void FocusMotor::setup()
 	}
 	stageScanningData = new StageScanningData();
 
+	// Read dual axis from preferences if available
+	Preferences preferences;
+	const char *prefNamespace = "UC2";
+	preferences.begin(prefNamespace, false);
+	isDualAxisZ = preferences.getBool("dualAxZ", pinConfig.isDualAxisZ);
+	preferences.end();
+
+	// setup motor pins
 	log_i("Setting Up Motor A,X,Y,Z");
 	preferences.begin("motor-positions", false);
 	if (pinConfig.MOTOR_A_DIR > 0)

diff --git a/main/src/motor/FocusMotor.h b/main/src/motor/FocusMotor.h
@@ -41,6 +41,7 @@ class FocusMotor : public Module
 	void move(Stepper s, int steps, bool blocking);
 	bool isRunning(int i);
 	long getCurrentPosition(Stepper s);
+	bool isDualAxisZ = false;
 
 	TaskHandle_t TaskHandle_stagescan_t;
 
@@ -49,6 +50,7 @@ class FocusMotor : public Module
 	TCA9535_Register outRegister;
 	TCA9535_Register inRegister;
 
+
 	int logcount;
 	bool power_enable = false;