From 922769cefb64ab2b6afaba4991abbe86a18bc9d9 Mon Sep 17 00:00:00 2001 From: espr14 Date: Tue, 29 Dec 2020 17:14:18 +0100 Subject: [PATCH] axis -> axes --- Firmware/xyzcal.cpp | 56 ++++++++++++++++++++++----------------------- 1 file changed, 28 insertions(+), 28 deletions(-) diff --git a/Firmware/xyzcal.cpp b/Firmware/xyzcal.cpp index 8c749aaf5..411b48908 100644 --- a/Firmware/xyzcal.cpp +++ b/Firmware/xyzcal.cpp @@ -414,28 +414,28 @@ void update_position_1_step(uint8_t axis, uint8_t dir){ _Z_ += dir & Z_AXIS_MASK ? -1 : 1; } -void set_axis_dir(uint8_t axis, uint8_t dir){ - if (axis & X_AXIS_MASK) +void set_axes_dir(uint8_t axes, uint8_t dir){ + if (axes & X_AXIS_MASK) sm4_set_dir(X_AXIS, dir & X_AXIS_MASK); - if (axis & Y_AXIS_MASK) + if (axes & Y_AXIS_MASK) sm4_set_dir(Y_AXIS, dir & Y_AXIS_MASK); - if (axis & Z_AXIS_MASK) + if (axes & Z_AXIS_MASK) sm4_set_dir(Z_AXIS, dir & Z_AXIS_MASK); } -void go_step(uint8_t axis){ - if (axis & X_AXIS_MASK) +void go_step(uint8_t axes){ + if (axes & X_AXIS_MASK) sm4_do_step(X_AXIS); - if (axis & Y_AXIS_MASK) + if (axes & Y_AXIS_MASK) sm4_do_step(Y_AXIS); - if (axis & Z_AXIS_MASK) + if (axes & Z_AXIS_MASK) sm4_do_step(Z_AXIS); } /// Accelerate up to max.speed (defined by @min_delay_us) /// does not update global positions -void accelerate_1_step(uint8_t axis, int16_t acc, uint16_t &delay_us, uint16_t min_delay_us){ - go_step(axis); +void accelerate_1_step(uint8_t axes, int16_t acc, uint16_t &delay_us, uint16_t min_delay_us){ + go_step(axes); /// keep max speed (avoid extra computation) if (acc > 0 && delay_us == min_delay_us){ @@ -471,11 +471,11 @@ void accelerate_1_step(uint8_t axis, int16_t acc, uint16_t &delay_us, uint16_t m /// Goes defined number of steps while accelerating /// updates global positions -void accelerate(uint8_t axis, uint8_t dir, int16_t acc, uint16_t &delay_us, uint16_t min_delay_us, uint16_t steps){ - set_axis_dir(axis, dir); +void accelerate(uint8_t axes, uint8_t dir, int16_t acc, uint16_t &delay_us, uint16_t min_delay_us, uint16_t steps){ + set_axes_dir(axes, dir); while (steps--){ - accelerate_1_step(axis, acc, delay_us, min_delay_us); - update_position_1_step(axis, dir); + accelerate_1_step(axes, acc, delay_us, min_delay_us); + update_position_1_step(axes, dir); } } @@ -484,7 +484,7 @@ void accelerate(uint8_t axis, uint8_t dir, int16_t acc, uint16_t &delay_us, uint /// returns after each step /// \returns true if step was done /// does not update global positions -bool go_and_stop_1_step(uint8_t axis, int16_t dec, uint16_t &delay_us, uint16_t &steps){ +bool go_and_stop_1_step(uint8_t axes, int16_t dec, uint16_t &delay_us, uint16_t &steps){ if (steps <= 0 || dec <= 0) return false; @@ -492,11 +492,11 @@ bool go_and_stop_1_step(uint8_t axis, int16_t dec, uint16_t &delay_us, uint16_t uint16_t s = round_to_u16(100 * 0.5f * SQR(0.01f) / (SQR((float)delay_us) * dec)); if (steps > s){ /// go steady - go_step(axis); + go_step(axes); delayMicroseconds(delay_us); } else { /// decelerate - accelerate_1_step(axis, -dec, delay_us, delay_us); + accelerate_1_step(axes, -dec, delay_us, delay_us); } --steps; return true; @@ -504,31 +504,31 @@ bool go_and_stop_1_step(uint8_t axis, int16_t dec, uint16_t &delay_us, uint16_t /// \param dir sets direction of movement /// updates global positions -void go_and_stop(uint8_t axis, uint8_t dir, int16_t dec, uint16_t &delay_us, uint16_t steps){ - set_axis_dir(axis, dir); - while (go_and_stop_1_step(axis, dec, delay_us, steps)){ - update_position_1_step(axis, dir); +void go_and_stop(uint8_t axes, uint8_t dir, int16_t dec, uint16_t &delay_us, uint16_t steps){ + set_axes_dir(axes, dir); + while (go_and_stop_1_step(axes, dec, delay_us, steps)){ + update_position_1_step(axes, dir); } } /// goes all the way to stop /// \returns steps done /// updates global positions -void stop_smoothly(uint8_t axis, uint8_t dir, int16_t dec, uint16_t &delay_us){ +void stop_smoothly(uint8_t axes, uint8_t dir, int16_t dec, uint16_t &delay_us){ if (dec <= 0) return; - set_axis_dir(axis, dir); + set_axes_dir(axes, dir); while (delay_us < MAX_DELAY){ - accelerate_1_step(axis, -dec, delay_us, delay_us); - update_position_1_step(axis, dir); + accelerate_1_step(axes, -dec, delay_us, delay_us); + update_position_1_step(axes, dir); } } -void go_start_stop(uint8_t axis, uint8_t dir, int16_t acc, uint16_t min_delay_us, uint16_t steps){ +void go_start_stop(uint8_t axes, uint8_t dir, int16_t acc, uint16_t min_delay_us, uint16_t steps){ uint16_t current_delay_us = MAX_DELAY; const uint16_t half = steps / 2; - accelerate(axis, dir, acc, current_delay_us, min_delay_us, half); - go_and_stop(axis, dir, -acc, current_delay_us, steps - half); + accelerate(axes, dir, acc, current_delay_us, min_delay_us, half); + go_and_stop(axes, dir, -acc, current_delay_us, steps - half); } /// moves X, Y, Z one after each other