e8e1070bd1
- 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
16 lines
494 B
C++
16 lines
494 B
C++
#pragma once
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//init stepper pins and timer
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void stepper_init();
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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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//task that periodically logs variables for debugging stepper driver
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void task_stepper_debug(void *pvParameter);
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//control stepper without timer (software)
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void task_stepperCtrlSw(void *pvParameter);
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void stepperSw_setTargetSteps(uint64_t target);
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