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This commit is contained in:
Hakan Bastedt
2024-03-10 22:40:25 +01:00
parent fef934b103
commit f341eb5074
2 changed files with 28 additions and 22 deletions
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10
Firmware/src/main.cpp
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@@ -68,12 +68,12 @@ void handleStepper(void)
Step1.enabled = true;
Step1.commandedPosition = Obj.CommandedPosition1;
Step1.stepsPerMM = Obj.StepsPerMM1;
Step1.handleStepper(irqTime, nLoops);
Step1.handleStepper(irqTime, 1/*nLoops*/);
Step2.enabled = true;
Step2.commandedPosition = Obj.CommandedPosition2;
Step2.stepsPerMM = Obj.StepsPerMM2;
Step2.handleStepper(irqTime, nLoops);
Step2.handleStepper(irqTime, 1/*nLoops*/);
}
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
@@ -95,10 +95,10 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
min_Tim = aTim;
}
thenTime = irqTime;
Obj.DiffT = max_Tim - min_Tim; // Debug
Obj.DiffT = longTime.extendTime(micros()) - irqTime; // max_Tim - min_Tim; // Debug
Obj.D1 = Step2.frequency;
Obj.D2 = Step2.Tstartf * 1e6;
Obj.D3 = Step2.dbg;
Obj.D2 = abs(Step2.nSteps);
Obj.D3 = Step2.Tstartu;
Obj.D4 = Obj.D1 + Obj.D2 - Obj.D3;
}