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Updated eeprom

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This commit is contained in:
Hakan Bastedt
2025-03-02 08:18:51 +01:00
parent 8130f407b9
commit f79ad7035e
3 changed files with 48 additions and 41 deletions
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7
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/src/StepGen3.cpp
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@@ -1107,6 +1107,7 @@ StepGen3::StepGen3(void)
dirPin[3] = PE4;
rtapi_app_main();
#if 0
stepgen_array[0].pos_scale = JOINT_1_SCALE; // Can and should be overriden by PDO values
stepgen_array[0].maxaccel = JOINT_1_STEPGEN_MAXACCEL;
stepgen_array[1].pos_scale = JOINT_2_SCALE;
@@ -1117,6 +1118,7 @@ StepGen3::StepGen3(void)
stepgen_array[3].maxaccel = JOINT_4_STEPGEN_MAXACCEL;
stepgen_array[0].enable = stepgen_array[1].enable =
stepgen_array[2].enable = stepgen_array[3].enable = 0; // Note that they are off by default
#endif
}
void StepGen3::updateStepGen(double pos_cmd1, double pos_cmd2, double pos_cmd3, double pos_cmd4,
@@ -1137,6 +1139,11 @@ void StepGen3::updateStepGen(double pos_cmd1, double pos_cmd2, double pos_cmd3,
stepgen_array[1].maxaccel = max_acc2;
stepgen_array[2].maxaccel = max_acc3;
stepgen_array[3].maxaccel = max_acc4;
stepgen_array[0].enable = enable1;
stepgen_array[1].enable = enable2;
stepgen_array[2].enable = enable3;
stepgen_array[3].enable = enable4;
for (int i = 0; i < num_chan; i++)
{
stepgen_t *step;