verbose flag for less logging on stepper and planner

modules/hardware/atkstepper.js

@@ -15,6 +15,9 @@ function Stepper() {
 
     var stepper = Hardware()
 
+    // log more 
+    var verbose = false 
+
     stepper.description.name = 'ATKStepper'
     stepper.description.alt = 'software representation of stepper motor'
 
@@ -184,7 +187,7 @@ function Stepper() {
             console.log(dMove)
         }
 
-        console.log('------------------- DMOVE', state.axis, dMove.steps)
+        if(verbose) console.log('------------------- DMOVE', state.axis, dMove.steps)
 
         var packet = new Array()
         // step blocks are #131
@@ -195,7 +198,7 @@ function Stepper() {
             packet.push(131)
         }
         packet = packet.concat(PCKT.pack32(dMove.steps))
-        console.log('------------------- PMOVE', packet)
+        if(verbose) console.log('------------------- PMOVE', packet)
         packet = packet.concat(PCKT.pack32(dMove.entry))
         packet = packet.concat(PCKT.pack32(dMove.accel))
         packet = packet.concat(PCKT.pack32(dMove.accelLen))
@@ -227,7 +230,7 @@ function Stepper() {
             axis: state.axis,
             increment: unitsMade
         }
-        console.log("STEPPER ACK MOVE", state.axis, stepsMade)
+        if(verbose) console.log("STEPPER ACK MOVE", state.axis, stepsMade)
         stepper.outputs.ack.emit(ack)
         stepper.outputs.position.emit(state.position)
     }
@@ -240,7 +243,7 @@ function Stepper() {
             axis: state.axis,
             increment: 0
         }
-        console.log("STEPPER ACK WAIT", state.axis)
+        if(verbose) console.log("STEPPER ACK WAIT", state.axis)
         stepper.outputs.ack.emit(ack)
     }
 

modules/motion/planner.js

@@ -23,6 +23,9 @@ function Planner() {
         }
     }
 
+    // log more 
+    var verbose = false 
+
     planner.state = State()
     var state = planner.state // reference pass attempt?
 
@@ -92,9 +95,9 @@ function Planner() {
             var newNetState = state.netState.slice(0)
             newNetState[match] -= 1
             state.netState = newNetState
-            console.log('NEW NET STATE', newNetState)
+            if(verbose) console.log('NEW NET STATE', newNetState)
         } else {
-            console.log('ERR: missed axis on ack from stepper')
+            console.log('ERR in PLANNER: missed axis on ack from stepper')
         }
         netStateRefresh()
     }
@@ -181,7 +184,7 @@ function Planner() {
             state.netState = state.netState
             // dereference
             var move = JSON.parse(JSON.stringify(mq.shift()))
-            console.log("MOVE FROM PLANNER", move)
+            if(verbose) console.log("MOVE FROM PLANNER", move)
             planner.outputs.moves.emit(move)
             planner.outputs.moveComplete.emit(1)
         } else {
@@ -284,7 +287,7 @@ function Planner() {
             // to maximum permissible by JD 
             // because we know the final exit speed, we'll run the pass from
             // back to start 
-            console.log('REV PASS')
+            if(verbose) console.log('REV PASS')
             for (var i = mq.length - 1; i > 0; i--) {
                 // the moves we're junctioning around / transitioning between 
                 var mqi = mq[i - 1]
@@ -313,7 +316,7 @@ function Planner() {
             // we've swept backwards to make sure we can decelerate into the end point,
             // now we need to make sure we can accelerate up to these cornering velocities
             // and if not, set the exit speeds appropriately, so that we can get there
-            console.log('FWD PASS')
+            if(verbose) console.log('FWD PASS')
             for (var i = 0; i < mq.length - 1; i++) {
                 var mqi = mq[i]
                 var mqn = mq[i + 1]
@@ -333,7 +336,7 @@ function Planner() {
             // this becomes very useful for turning moves over to stepper motors
             // and will give us a time estimate for each move as well,
             // we need / want that so that we can set a network buffer length 
-            console.log('TRAPEZOIDS')
+            if(verbose) console.log('TRAPEZOIDS')
             for (var i = 0; i < mq.length; i++) {
                 calcTrap(mq[i], accel, false)
                 if (moveTime(mq[i]) < 0.1) {