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Enable z jogging

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This commit is contained in:
Frederik Menke 2023-12-10 13:38:52 +01:00
parent db33f6a53c
commit 396d24b451
2 changed files with 13 additions and 18 deletions
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17
red/src/gamepad.rs
View file

@ -1,5 +1,7 @@
/// Functionality for retrieving and interpreting gamepad input
use gilrs::Axis::*;
use gilrs::Button::LeftTrigger2;
use gilrs::Button::RightTrigger2;
use gilrs::EventType::*;
use gilrs::Gilrs;
use std::sync::Arc;
@ -79,6 +81,7 @@ impl Gamepad {
/// Update the setpoints in accordance to incoming `GamepadEvent`s
async fn handle_events(self_arc: Arc<Self>, mut events_rx: mpsc::Receiver<GamepadEvent>) {
// There is two z-axes that counter each other.
let mut z_positive = 0.0;
let mut z_negative = 0.0;
while let Some(event) = events_rx.recv().await {
@ -109,14 +112,12 @@ impl Gamepad {
match event.event {
AxisChanged(LeftStickX, value, _) => Some(GamepadEvent::AxisPosition(Axis::X, value)),
AxisChanged(LeftStickY, value, _) => Some(GamepadEvent::AxisPosition(Axis::Y, value)),
AxisChanged(RightZ, value, _) => Some(GamepadEvent::AxisPosition(
Axis::ZNegative,
(1.0 + value) / 2.0,
)),
AxisChanged(LeftZ, value, _) => Some(GamepadEvent::AxisPosition(
Axis::ZPositive,
(1.0 + value) / 2.0,
)),
ButtonChanged(LeftTrigger2, value, _) => {
Some(GamepadEvent::AxisPosition(Axis::ZNegative, value))
}
ButtonChanged(RightTrigger2, value, _) => {
Some(GamepadEvent::AxisPosition(Axis::ZPositive, value))
}
ButtonPressed(gilrs::Button::Start, _) => Some(GamepadEvent::TerminatePressed),
_ => None,
}

14
red/src/jogger.rs
View file

@ -17,7 +17,7 @@ const TIME_PER_MOVEMENT: Duration = Duration::from_millis(30);
const FULL_SCALE_SPEED_XY: f64 = 2000.0;
/// Movement speed of gantry when going full throttle in z-direction
/// in units/min (mm/min)
const FULL_SCALE_SPEED_Z: f64 = 10.0;
const FULL_SCALE_SPEED_Z: f64 = 100.0;
/// Amount of GCODE buffers that should be filled for optimal jogging performance.
/// More buffers increase the controller delay. Less buffers make it more difficult
/// for the motion planner on the printer to plan ahead.
@ -39,16 +39,10 @@ pub async fn jog(gamepad: Arc<Gamepad>, mut printer: Printer) -> Never {
loop {
let (setpoint_x, setpoint_y, setpoint_z) = gamepad.speed_setpoint();
// We're bound by lower speed on z and have no way to go at separate speeds per axis
let full_scale_speed = if setpoint_z == 0.0 {
FULL_SCALE_SPEED_XY
} else {
FULL_SCALE_SPEED_Z
};
let distance: PrinterVec = vec3(
full_scale_speed * (TIME_PER_MOVEMENT.as_secs_f64() / 60.0) * (setpoint_x as f64),
full_scale_speed * (TIME_PER_MOVEMENT.as_secs_f64() / 60.0) * (setpoint_y as f64),
full_scale_speed * (TIME_PER_MOVEMENT.as_secs_f64() / 60.0) * (setpoint_z as f64),
FULL_SCALE_SPEED_XY * (TIME_PER_MOVEMENT.as_secs_f64() / 60.0) * (setpoint_x as f64),
FULL_SCALE_SPEED_XY * (TIME_PER_MOVEMENT.as_secs_f64() / 60.0) * (setpoint_y as f64),
FULL_SCALE_SPEED_Z * (TIME_PER_MOVEMENT.as_secs_f64() / 60.0) * (setpoint_z as f64),
);
if distance.length() == 0.0 {
sleep(TIME_PER_MOVEMENT).await;