- outsource global variables and objects
- move from config.hpp to global.cpp / hpp
- rename config.hpp, thus change all includes
- re-arrange includes -> in source files instead of header
- optimize / make function comment titles more consistent
- optimize comments overall
- add several temporary files to gitignore
- fix unused variable compiler warnings
- prevent hard stops (no decel ramp) when target changes while
decelerating already (overshoot and move back)
- optimize/adjust stepper-test mode, add macro for test with single switch
Note: tested the current state, works quite well. very rarely crashes
probably dude to race conditions in isr?
- Add waitForStop function to custom stepper driver
- use that function in guide-stepper to ensure stepper actually was at
max/min position before dir change
- move stepper config e.g. speed accel steps... from stepper.cpp to
config.h
- uncomment and rework code in guide-stepper.cpp (for traveling the
stepper based on encoder) to work with new custom driver instead of
previous library
Note currently in STEPPER_SIMULATE_ECNODER mode (use button as encoder),
see macro
- add functions
setSpeed (mm/s)
setTargetPosMm
- add macros and function to define and convert variables to actual units
speed in mm/s instead of unknown
abs pos in mm instead of steps
- simplyfy isr code
new driver works well while testing with one button with debug output
- small changes to isr function that made it fully functional!
- add stepper debug task
- minor optimizations necessary
Partially implemented stepper driver as planned in diagram
works partially (reset button toggles distances)
major issues though - wip
needs debugging and testing
basic task for controlling the stepper
(no accel / decel etc)
works at current speed settings but long moves trigger watchdog
so dropped this idea and using timer as before
Some adjustments to make it work
- fix direction change (temporary)
- fix isr initial start
See notes in stepper.cpp
Todo:
- fix crash after accelerating
- add initial speed (takes long to accelerate from 0
-
- Add stepper driver code from scratch
- Remove / comment out code that used DendoStepper library
- Test custom driver with buttons (guide-stepper.cpp)
untested limited features
