f8b9e6c862
- 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
26 lines
763 B
C++
26 lines
763 B
C++
#pragma once
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//init stepper pins and timer
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void stepper_init();
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//delay until stepper is stopped, optional timeout in ms, 0 = no limit
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void stepper_waitForStop(uint32_t timeoutMs = 0);
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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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