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Fix : function name for acceleration and deceleration getters #39

Merged
merged 8 commits into from
Jan 16, 2024
Merged

Fix : function name for acceleration and deceleration getters #39

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8d26a52
New : getters for acceleration and desceleration
Jan 13, 2024
1a67a64
Merge branch 'pkerspe:master' into master
ameisso Jan 13, 2024
cc7eee5
Fix : rename getters for acceleration and deceleration parameters
Jan 14, 2024
b671d8f
Merge branch 'master' of https://github.com/ameisso/ESP-FlexyStepper
Jan 14, 2024
d3658ea
Clean : identation
Jan 14, 2024
8239eb8
fix : core 1 doesn't exist on esp32C3 and S2
Jan 14, 2024
0a891ea
Fix : typo in function name
Jan 14, 2024
345d2d7
Fix : avoid empty code blocks
Jan 15, 2024
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41 changes: 39 additions & 2 deletions src/ESP_FlexyStepper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -96,7 +96,9 @@ bool ESP_FlexyStepper::startAsService(int coreNumber)

if (coreNumber == 1)
{
#if ! (CONFIG_IDF_TARGET_ESP32C3 || CONFIG_IDF_TARGET_ESP32S2)
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In such a case the whole if statement in the previous line would not make sense, since it would result in an empty block.
Please refactor so that we do not have an empty if block at all. Might need to simply exchange the if / else order.
At the end on such MCUs the function should return false if 1 is given as core number

disableCore1WDT(); // we have to disable the Watchdog timer to prevent it from rebooting the ESP all the time another option would be to add a vTaskDelay but it would slow down the stepper
#endif
}
else if (coreNumber == 0)
{
Expand Down Expand Up @@ -340,7 +342,7 @@ void ESP_FlexyStepper::setEnablePin(signed char enablePin, byte activeState)
this->enablePinActiveState = ESP_FlexyStepper::ACTIVE_LOW;
}

if(this->enablePin >= 0)
if (this->enablePin >= 0)
{
// configure the IO pins
pinMode((uint8_t)this->enablePin, OUTPUT);
Expand Down Expand Up @@ -418,7 +420,7 @@ bool ESP_FlexyStepper::isBrakeActive()
*/
void ESP_FlexyStepper::enableDriver(void)
{
if (this->_isEnableConfigured)
if (this->_isEnableConfigured)
{
digitalWrite((uint8_t)this->enablePin, (this->enablePinActiveState == ESP_FlexyStepper::ACTIVE_HIGH) ? 1 : 0);
this->_isDriverEnabled = true;
Expand Down Expand Up @@ -610,6 +612,41 @@ float ESP_FlexyStepper::getCurrentVelocityInMillimetersPerSecond()
return (getCurrentVelocityInStepsPerSecond() / stepsPerMillimeter);
}

/*
access the acceleration/deceleration parameters set by user
*/

float ESP_FlexyStepper::getConfiguredAccelerationInStepsPerSecondPerSecond()
{
return acceleration_InStepsPerSecondPerSecond;
}

float ESP_FlexyStepper::getConfiguredAccelerationInRevolutionsPerSecondPerSecond()
{
return acceleration_InStepsPerSecondPerSecond / stepsPerRevolution;
}

float ESP_FlexyStepper::getConfiguredAccelerationInMillimetersPerSecondPerSecond()
{
return acceleration_InStepsPerSecondPerSecond / stepsPerMillimeter;
}

float ESP_FlexyStepper::getConfiguredDecelerationInStepsPerSecondPerSecond()
{
return deceleration_InStepsPerSecondPerSecond;
}

float ESP_FlexyStepper::getConfiguredDecelerationInRevolutionsPerSecondPerSecond()
{
return deceleration_InStepsPerSecondPerSecond / stepsPerRevolution;
}

float ESP_FlexyStepper::getConfiguredDecelerationInMillimetersPerSecondPerSecond()
{
return deceleration_InStepsPerSecondPerSecond / stepsPerMillimeter;
}


// ---------------------------------------------------------------------------------
// Public functions with units in revolutions
// ---------------------------------------------------------------------------------
Expand Down
8 changes: 8 additions & 0 deletions src/ESP_FlexyStepper.h
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Original file line number Diff line number Diff line change
Expand Up @@ -109,6 +109,14 @@ class ESP_FlexyStepper
float getCurrentVelocityInRevolutionsPerSecond();
float getCurrentVelocityInMillimetersPerSecond(void);

float getConfiguredAccelerationInStepsPerSecondPerSecond();
float getConfiguredAccelerationInRevolutionsPerSecondPerSecond();
float getConfiguredAccelerationInMillimetersPerSecondPerSecond();

float getConfiguredDecelerationInStepsPerSecondPerSecond();
float getConfiguredDecelerationInRevolutionsPerSecondPerSecond();
float getConfiguredDecelerationInMillimetersPerSecondPerSecond();

// positioning functions
void setCurrentPositionInSteps(long currentPositionInSteps);
void setCurrentPositionInMillimeters(float currentPositionInMillimeters);
Expand Down