Diff: stepper.cpp

Revision:

46:85c4b722baa7

Parent:

45:54d18ab80fd1

Child:

48:d612de6880b0

--- a/stepper.cpp	Thu Mar 29 20:02:25 2018 +0000
+++ b/stepper.cpp	Fri Mar 30 20:25:25 2018 +0000
@@ -53,7 +53,7 @@
     jog_ccw.mode(PullUp);
     cal_button.mode(PullUp);
     home_sensor.mode(PullUp);
-    for (int i = 1; i <= NUM_SENSORS; i++) {
+    for (int i = 1; i <= TGT_SENSOR_QUAN; i++) {
         //stp_sensor_pos[i] = STP_POS_UNKN;
     }
 }
@@ -107,7 +107,7 @@
 void step_test() {
     stp_init();
     while (uti_chk_ubutton() == 0);
-    pc.printf("test begin\n");
+    pc.printf("step motor test begin\n");
     while(1) {
             if (jog_ccw == 0) {
                 if (stp_cur_pos != 0) {
@@ -115,6 +115,10 @@
                     if (stp_cur_pos != STP_POS_UNKN)
                         stp_cur_pos--;
                 }
+                else {
+                    pc.printf("Cannot turn past home position.\n");
+                    wait(0.02);
+                }
                 
             }
             if (jog_cw == 0) {
@@ -123,12 +127,16 @@
                     if (stp_cur_pos != STP_POS_UNKN)
                         stp_cur_pos++;
                 }
-                else
+                else {
+                    pc.printf("Cannot turn past maximum position. Fatal error.\n");
                     while(1);
+                }
             } 
             if (cal_button == 0) {
                 stp_find_home();
             }
+            if (uti_chk_ubutton() == 1)
+                break;
         }
 }
 
@@ -152,7 +160,7 @@
         for(int i = 0; i < 100; i++)
             stp_step(STP_CW);
         if (home_sensor == 0) {
-            pc.printf("Error, home sensor not functioning. Home sensor is currently %d\n", home_sensor.read());
+            pc.printf("Error, home sensor not functioning. Fatal error.\n", home_sensor.read());
             while(1);
         }
     }