feature request: decelerate to stop

Teknic-ClearPath / ClearPath-Arduino-Step-And-Direction

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feature request: decelerate to stop #3

Open stephanschulz opened 3 years ago

stephanschulz commented 3 years ago

Thank you for making this library. It is super helpful.

I would love to have one more feature; a stopDecelerate(). Currently the stopMove() causes an abrupt stop, as your commands state.

Do you think there is any way to interrupt the current motion and quickly but safely decelerate? This would allow me to safely change directions when using your motors for live action motion changes.

Thank you for any help.

youcangetme commented 3 years ago

I would like to add to this the ability to check where the library thinks the current steps are at. Right now you command it to position X and did it really get there? Check the HLFB and if in an alert state, where am I?

And!

If I call stop, where did I stop? How many steps have been executed? I will now need to re-home to find my zero.

Right now I use the stop function during homing because my homing procedure is custom. I use relative positions which is good 99% of the time but if somebody hits the e-stop I have to re-home the application.

stephanschulz commented 3 years ago

I find "X.getCommandedPosition()" works very well to get the current position, even while a move() is still happening.

For now instead of adding to the library to achieve the stopDecelerate() I just ramp down the MaxVel and then call stopMove().

  if (rampDownVel == true) {
    curVel = curVel - 200;
    if (curVel <= 0) {
      rampDownVel = false;
      curVel = maxVel;
      X.stopMove();
    }
    X.setMaxVel(curVel);
  }

youcangetme commented 3 years ago

That call returns the position you commanded it too, not where you are...

stephanschulz commented 3 years ago

interesting.

in my case when printing via Serial.println(X.getCommandedPosition()); I get changing number

youcangetme commented 3 years ago

OK, correction. That call is not absolute position but steps executed. I also saw this pop up in my email inbox and didn't realize that this IS NOT the ClearCore libraries. I apologize for the confusion. I used these libraries briefly a while ago. I use the ClearCore libraries now.