Diff: main.cpp

Revision:

20:4a400a4cc419

Parent:

19:231b8931cabc

Child:

21:3e6576c2e126

--- a/main.cpp	Tue Apr 23 16:01:54 2019 +0000
+++ b/main.cpp	Fri Apr 26 13:46:42 2019 +0000
@@ -975,6 +975,12 @@
             avviaSimula = rxMsg.data[2];
             selezionato = rxMsg.data[3];
             comandiDaCan = rxMsg.data[4];
+            speedStepp = rxMsg.data[5];
+            if (speedStepp==0){
+                simStepper=0;
+            }else{
+                simStepper=1;
+            }
             #if defined(pcSerial)
                 #if defined(canDataReceived)
                         pc.printf("Speed simula %d \n",speedSimula);
@@ -1716,6 +1722,21 @@
 //**************************************************************************************************************
 
         if (inProva==0) {
+            // simulazione stepper
+            if (simStepper==1){
+                oldSimStepper=true;
+                simStepSpeed= ((double)speedStepp*180.45f)/50.0f;
+                if (oldSimStepSpeed!=simStepSpeed){
+                    motor->run(StepperMotor::FWD,simStepSpeed);
+                    oldSimStepSpeed=simStepSpeed;
+                }
+            }else{
+                if (oldSimStepper==true){
+                    oldSimStepper=false;
+                    motor->soft_hiz();
+                    oldSimStepSpeed=0.0f;
+                }
+            }   
             if ((startCycleSimulation==0)&&(enableSimula==0)) {
                 runRequestBuf=1;//0;
             } else {
@@ -1886,7 +1907,7 @@
                     oldTBzeroPinInput=0;
                 }
             }
-            if ((TBzeroPinInput==1)&&(oldTBzeroPinInput==0)) {
+            if (((TBzeroPinInput==1)&&(oldTBzeroPinInput==0))&&(simStepper==0)) {
                 oldTBzeroPinInput=1;
                 if (loadDaCanInCorso==0) {
                     stopCicloTB=1;
@@ -1967,7 +1988,7 @@
                     delaySeedCheck.start();
                 #endif
             }
-            if ((double)TBactualPosition > ((TBgiroStep/cellsNumber)*1.8f)&&(erroreTamburo==0)) {
+            if (((double)TBactualPosition > ((TBgiroStep/cellsNumber)*1.8f)&&(erroreTamburo==0))&&(simStepper==0)) {
                 if (firstStart==0) {
                     if (tractorSpeed_MtS_timed>0.4f){
                         if (cntTbError>5) {
@@ -2021,7 +2042,7 @@
             }
 // ----------------------------------------
 // read and manage joystick
-            if (loadDaCan==1) {
+            if ((loadDaCan==1)&(simStepper==0)) {
                 if (tractorSpeed_MtS_timed==0.0f) {
                 #if defined(pcSerial)
                     #if defined(checkLoop)
@@ -2106,7 +2127,7 @@
                     oldLocalTractorSpeed=0.0f;
                 }
             }
-            if ((tractorSpeed_MtS_timed>0.01f)) {
+            if ((tractorSpeed_MtS_timed>0.01f)&&(simStepper==0)) {
                 #if defined(pcSerial)
                     #if defined(Qncc)
                         pc.printf("TsP: %f SpW: %f InPic: %f   EPerc: %f Duty:%f \n",tractorSpeed_MtS_timed,speedOfSeedWheel,timeIntraPick, errorePercentuale, dcActualDuty);
@@ -2458,8 +2479,10 @@
                             pc.printf("A5\n");
                         #endif
                     #endif
-                    motor->soft_hiz();
-                    motor->set_home();
+                    if(simStepper==0){
+                        motor->soft_hiz();
+                        motor->set_home();
+                    }
                     cntSpeedError=0;    
                     timeIntraPick=0.0f;
                     memoIntraPick=0.001f;