AHB1.debug(stream);
}
- stream->printf("Block size: %u bytes\n", sizeof(Block));
+ stream->printf("Block size: %u bytes, Tickinfo size: %u bytes\n", sizeof(Block), sizeof(Block::tickinfo_t) * Block::n_actuators);
}
static uint32_t getDeviceType()
}
} else if (what == "pos") {
- // convenience to call all the various M114 variants
- char buf[64];
- THEROBOT->print_position(0, buf, sizeof buf); stream->printf("last %s\n", buf);
- THEROBOT->print_position(1, buf, sizeof buf); stream->printf("realtime %s\n", buf);
- THEROBOT->print_position(2, buf, sizeof buf); stream->printf("%s\n", buf);
- THEROBOT->print_position(3, buf, sizeof buf); stream->printf("%s\n", buf);
- THEROBOT->print_position(4, buf, sizeof buf); stream->printf("%s\n", buf);
- THEROBOT->print_position(5, buf, sizeof buf); stream->printf("%s\n", buf);
+ // convenience to call all the various M114 variants, shows ABC axis where relevant
+ std::string buf;
+ THEROBOT->print_position(0, buf); stream->printf("last %s\n", buf.c_str()); buf.clear();
+ THEROBOT->print_position(1, buf); stream->printf("realtime %s\n", buf.c_str()); buf.clear();
+ THEROBOT->print_position(2, buf); stream->printf("%s\n", buf.c_str()); buf.clear();
+ THEROBOT->print_position(3, buf); stream->printf("%s\n", buf.c_str()); buf.clear();
+ THEROBOT->print_position(4, buf); stream->printf("%s\n", buf.c_str()); buf.clear();
+ THEROBOT->print_position(5, buf); stream->printf("%s\n", buf.c_str()); buf.clear();
} else if (what == "wcs") {
// print the wcs state
struct SerialMessage message{&StreamOutput::NullStream, cmd};
THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
if(THEKERNEL->is_halted()) break;
- THECONVEYOR->wait_for_idle();
toggle= !toggle;
}
stream->printf("done\n");
stream->printf("%s\n", cmd);
message.message= cmd;
THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
- THECONVEYOR->wait_for_idle();
}
// leave it where it started
THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
}
- THEROBOT->pop_state();
+ THEROBOT->pop_state();
stream->printf("done\n");
}else if (what == "square") {
THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
}
if(THEKERNEL->is_halted()) break;
- THECONVEYOR->wait_for_idle();
- }
+ }
stream->printf("done\n");
}else if (what == "raw") {