Add STOP command

Author: cibomahto

ArduinoStepperController.pde

@@ -62,6 +62,9 @@ void handler( CommandInterpreter::Message *msg ) {
     case M_GO:
       handleGO(msg->fields[0], msg->fields[1], msg->fields[2]);
       break;
+    case M_STOP:
+      handleSTOP();
+      break;
     case M_SET:
       handleSET(msg->fields[0], msg->fields[1], msg->fields[2]);
       break;
@@ -98,6 +101,14 @@ void handleGO(uint8_t axis, long position, long time) {
 }
 
 
+void handleSTOP() {
+  for ( uint8_t axis = 1; axis <= Stepper::count(); axis++) { 
+    Stepper::getStepper(axis).stop();
+  }
+  
+  commander.sendACK("STOP");
+}  
+
 void handleGET(uint8_t parameterName, uint8_t axis) {  
   char buffer[50];
   boolean good = false;

commands.h

@@ -8,6 +8,7 @@
 
 enum MESSAGE_TYPE {
   M_GO,
+  M_STOP,
   M_SET,
   M_GET,
   M_HOME,

commands.pde

@@ -11,6 +11,10 @@
  * ACK is sent by the controller immediately after GO recvd.  POSITION and TIME may be modified if POSITION was out of range or TIME was too short.
  * NOTICE DONE is sent when the move completes
  * 
+ * STOP Tells the controller to stop the motion of all axis immediately
+ * ACK is sent by the controller immediately after DONE recvd.
+ * NOTICE DONE will be recieved on any axis that were moving
+ *
  * SET param value
  * ACK SET param value
  * Sets PARAM to VALUE.  Valid PARAMs are: VERSION, INDEX, MAX_VELOCITY, ACCEL, POS
@@ -68,7 +72,7 @@ CommandInterpreter::ParameterDefinition CommandInterpreter::parameterTypes[] = {
 
 CommandInterpreter::MessageTypeDefinition CommandInterpreter::messageTypes[] = {
   { "GO",     M_GO         , GO_VALUES  },    // GO axis position time
-  { "SET",    M_SET        , SET_VALUES },    // SET param axis value
+  { "STOP",   M_STOP       , NO_VALUES  },    // STOP
   { "GET",    M_GET        , GET_VALUES },    // GET param axis
   { "HOME",   M_HOME       , HOME_VALUES  },  // HOME axis
   { "STATE",  M_STATE      , NO_VALUES  },    // STATE

stepper.h

@@ -22,6 +22,7 @@ enum STEPPER_STATE {
   S_HOMING_A,
   S_HOMING_B,
   S_FINISHED_HOMING,
+  S_USER_STOP,
   S_ERROR,
 };
 
@@ -67,6 +68,9 @@ class Stepper {
   // Find the limit switch, and set it to the 0 position
   boolean home();
 
+  // Unconditionally stops the stepper
+  void stop();
+  
   // Get the position
   long getPosition();
 
@@ -113,6 +117,8 @@ class Stepper {
   uint8_t limitPin;
 
   STEPPER_STATE state;
+
+  boolean forceStop;  //< Flag to signal to cause the interrupt task to sop motion
 
   long position;      //< Current position
   long stepsLeft;     //< Number of counts until final position is reached

stepper.pde

@@ -111,7 +111,7 @@ Stepper::Stepper(uint8_t enablePin_, uint8_t stepPin_, uint8_t directionPin_, ui
 
 void Stepper::doReset() {
   state = S_READY;
-  
+  forceStop = false;
   position = 0;
 
   digitalWrite(directionPin, LOW);
@@ -185,7 +185,7 @@ boolean Stepper::moveRelative(long steps, long& time) {
 }
 
 boolean Stepper::home() { 
- if ( busy() ) {
+  if ( busy() ) {
     return false;
   }
 
@@ -208,6 +208,14 @@ boolean Stepper::home() {
   return canMove;
 }
 
+void Stepper::stop() {
+  if ( !busy() ) {
+    return;
+  }
+ 
+  forceStop = true;
+}
+
 /*
  function line(x0, x1, y0, y1)
      int deltax := x1 - x0
@@ -232,9 +240,14 @@ void Stepper::doInterrupt() {
   }
 
   bool doneMoving = false;
-  
+ 
+  if ( forceStop ) {
+    state = S_USER_STOP;
+    doneMoving = true;
+    forceStop = false;
+  } 
   // Check if we just walked into the limit switch
-  if( settings.canHome && digitalRead(limitPin) == LOW ) {
+  else if( settings.canHome && digitalRead(limitPin) == LOW ) {
     if ( ( direction < 0 && settings.homeDirection == H_BACKWARD ) ||
          ( direction > 0 && settings.homeDirection == H_FORWARD ) )
     {
@@ -296,8 +309,8 @@ void Stepper::doInterrupt() {
     }
   }
 
-  // Stopping motion tasks
-  if (doneMoving) {
+  // Stopping motion tasks (doneMoving == TRUE)
+  else {
     if (settings.stopMode = S_DISABLE) {
       digitalWrite(enablePin, HIGH);
     }
@@ -377,6 +390,10 @@ boolean Stepper::checkFinished() {
     state = S_READY;
     return true;
   }
+  else if (state == S_USER_STOP) {
+    state = S_READY;
+    return true;
+  }
 
   return false;
 }