Added $MS for motor status. Fixed bug in MachineConfig for user outputs. #93
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| @@ -79,6 +79,7 @@ namespace Machine { | |||
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| if (_userOutputs == nullptr) { | |||
| _userOutputs = new UserOutputs(); | |||
| _userOutputs->init(); | |||
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I think this is unnecessary since I moved the array population to the UserOutputs constructor.
| namespace MotorDrivers { | ||
| class Nullmotor : public MotorDriver { | ||
| int32_t direction = 0; | ||
| int32_t steps = 0; | ||
| int state = 0; |
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Is state actually used anywhere? It gets set and unset but other than that I don't see anywhere that the information goes.
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Might be a left-over. I have to check. Let's first decide what to do with the PR.
| public: | ||
| Nullmotor() = default; | ||
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| bool set_homing_mode(bool isHoming) { return false; } | ||
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| bool isReal() override { return false; } | ||
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| void step() override { | ||
| Assert(!disabled, "Cannot step motor while disabled."); |
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I think it is unwise to Assert in something that is usually called from an ISR
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In general, I agree that asserts are "unwise" in an ISR. However, the rationale here was that it should "crash early" if things go wrong. After all, if the ena/dir is incorrect, it will just crash - but then again, if it's wrong and a machine moves there are bigger issues... It was a bit of a trade-off here.
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| void set_direction(bool dir) override { | ||
| Assert(!disabled, "Cannot set direction while disabled."); |
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Again, Assert from ISR
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I only see your comments now, I really have to fix my github preferences... not sure why I didn't get a proper notification. Anyways,
I have to clarify I think. This is indeed intended to be a debugging tool, specifically to test the behavior of the stepper engine with motor movements. I considered adding a 'debug_motor', but since I noticed that I'm usually developing on null_motor, it made more sense to just add it here. It does 2 things:
Since these are quite basic functionalities of the stepper engine, I made this PR. A better place would be to make a proper unit test from this... but due to all the dependencies to other components I don't see that happening anytime soon. FTR: I'm perfectly fine with closing the PR if it's not relevant enough. |
As the title describes. Seems to be more bugs tho...