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Added a commandedVelocity variable for hal

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This commit is contained in:
Hakan Bastedt
2024-01-06 20:53:34 +01:00
parent ccde6ef15e
commit 9dcc713fab
6 changed files with 66 additions and 13 deletions
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5
Firmware/src/main.cpp
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@@ -35,7 +35,7 @@ volatile uint8_t pleaseZeroTheCounter = 0;
HardwareTimer *MyTim;
volatile uint32_t stepCount = 0, stepPulses = 0;
volatile double_t actualPosition = 0;
volatile double_t requestedPosition;
volatile double_t requestedPosition, requestedVelocity;
uint32_t sync0CycleTime = 0;
@@ -56,6 +56,7 @@ void cb_set_outputs(void) // Master outputs gets here, slave inputs, first opera
PosScaleRes = 1.0 / double(CurPosScale);
}
requestedPosition = Obj.StepGenIn1.CommandedPosition;
requestedVelocity = Obj.StepGenIn1.CommandedVelocity;
}
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
@@ -211,7 +212,7 @@ void sync0Handler(void)
void handleStepper(void)
{
byte forwardDirection = 0; // 1 if going forward
int32_t pulsesToGo = 1000 * (requestedPosition - actualPosition);
int32_t pulsesToGo = 100 * (requestedPosition - actualPosition);
if (pulsesToGo != 0)
makePulses(900, pulsesToGo); // Make the pulses using hardware timer