17d8db2193
- Add function stepper_home - disable STEPPER_TESTING and STEPPER_SIMULATE_ENCODER for normal for testing in operation
23 lines
641 B
C++
23 lines
641 B
C++
#pragma once
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//init stepper pins and timer
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void stepper_init();
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//run to limit and define zero/start position. (busy until finished)
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//Currently simply runs stepper for travelMm and bumps into hardware limit
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void stepper_home(uint32_t travelMm = 60);
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//set absolute target position in steps
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void stepper_setTargetPosSteps(uint64_t steps);
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//set absolute target position in millimeters
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void stepper_setTargetPosMm(uint32_t posMm);
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//set target speed in millimeters per second
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void stepper_setSpeed(uint32_t speedMmPerS);
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//task that periodically logs variables for debugging stepper driver
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void task_stepper_debug(void *pvParameter);
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