julien.oculi/technoshop.laser_turret_debug
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feat: prevent full rotation to preserve mecanic

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Julien Oculi 2025-06-12 16:05:30 +02:00
parent 5f0235eec7
commit 397eed8080
1 changed files with 14 additions and 3 deletions
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17
turret.cpp
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@ -1,5 +1,6 @@
#include "turret.h"
#include "Arduino.h"
#include "math.h"
#include "maths.h"
#include <kissStepper.h>
@ -138,9 +139,19 @@ Turret &Turret::moveTo(double x, double y, double z, Unit unit) {
angleToStep(_step_ratio, vec2<double>(degToRad(x), degToRad(y)), step);
}
// TODO min(valueI, -_homeI);
_stepper.x.prepareMove(_zero.x + step.x);
_stepper.y.prepareMove(_zero.y + step.y);
long maxDeltaStepX = _step_ratio.x * M_PI_2;
long maxDeltaStepY = _step_ratio.y * M_PI_2;
// force move from -90° to 90° avoiding backside,
// if move > 180° skip the full turn a start at -90°,
// same in the other direction
long stepX = constrain(step.x % maxDeltaStepX, -(maxDeltaStepX >> 2),
(maxDeltaStepX >> 2));
long stepY = constrain(step.y % maxDeltaStepY, -(maxDeltaStepY >> 2),
(maxDeltaStepY >> 2));
_stepper.x.prepareMove(_zero.x + stepX);
_stepper.y.prepareMove(_zero.y + stepY);
bool xStop = false;
bool yStop = false;