From: Joseph Coffland <joseph@cauldrondevelopment.com>
Date: Sat, 13 May 2017 18:46:08 +0000 (-0700)
Subject: Make position setable
X-Git-Url: https://git.buildbotics.com/?a=commitdiff_plain;h=f80736f050ccb261eb8bb336e9447582eb030ff8;p=bbctrl-firmware

Make position setable
---

diff --git a/avr/Makefile b/avr/Makefile
index f9abce2..3a1ea99 100644
--- a/avr/Makefile
+++ b/avr/Makefile
@@ -55,7 +55,11 @@ BOOT_OBJ := $(patsubst src/%.S,build/%.o,$(BOOT_OBJ))
 BOOT_LDFLAGS = $(LDFLAGS) -Wl,--section-start=.text=0x030000
 
 # Build
-all: $(PROJECT).hex build/vars.json boot size
+all:
+	@$(MAKE) $(PROJECT).hex
+	@$(MAKE) build/vars.json
+	@$(MAKE) boot
+	@$(MAKE) size
 
 boot: boot.hex boot-size
 
diff --git a/avr/src/varcb.c b/avr/src/varcb.c
index 8166903..cb3a076 100644
--- a/avr/src/varcb.c
+++ b/avr/src/varcb.c
@@ -34,7 +34,13 @@
 #include "plan/state.h"
 
 // Axis
-float get_position(int index) {return mp_runtime_get_axis_position(index);}
+float get_position(int axis) {return mp_runtime_get_axis_position(axis);}
+
+
+void set_position(int axis, float position) {
+  mach_set_axis_position(axis, position);
+}
+
 
 // GCode
 int32_t get_line() {return mp_runtime_get_line();}
diff --git a/avr/src/vars.def b/avr/src/vars.def
index f27eca7..763d5d2 100644
--- a/avr/src/vars.def
+++ b/avr/src/vars.def
@@ -68,7 +68,7 @@ VAR(latch_backoff,  lb, float,    MOTORS, 1, 1, "Homing latch backoff")
 VAR(zero_backoff,   zb, float,    MOTORS, 1, 1, "Homing zero backoff")
 
 // Axis
-VAR(position,        p, float,    AXES,   0, 1, "Current axis position")
+VAR(position,        p, float,    AXES,   1, 1, "Current axis position")
 
 // Spindle
 VAR(spindle_type,   st, uint8_t,  0,      1, 1, "PWM=0 or HUANYANG=1")