1dd8388769
shutdown.cpp/hpp:
- repeatedly check supply voltage
- save value to nvs when dropping below threshold
- provide function to read lastPos from nvs
guide-stepper:
- auto-home considers stored last position in nvs
main:
- add new task shutDownDetection
config:
- slightly increase stepper speed
20 lines
677 B
C++
20 lines
677 B
C++
#pragma once
|
|
|
|
//task that initializes and controls the stepper motor
|
|
//current functionality:
|
|
// - automatically auto-homes
|
|
// - moves left and right repeatedly
|
|
// - updates speed from potentiometer each cycle
|
|
void task_stepper_test(void *pvParameter);
|
|
|
|
//task that initializes and controls the stepper motor
|
|
// - moves stepper according to encoder movement
|
|
void task_stepper_ctl(void *pvParameter);
|
|
|
|
|
|
//tell stepper-control task to move cable guide to zero position
|
|
void guide_moveToZero();
|
|
|
|
// return local variable posNow that stores the current position of cable guide axis in steps
|
|
// needed by shutdown to store last axis position in nvs
|
|
int guide_getAxisPosSteps(); |