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update button handling

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This commit is contained in:
uvos
2024-06-10 20:06:08 +02:00
parent 51a5e6fc28
commit b631a44abb
6 changed files with 133 additions and 52 deletions
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40
stepper.cpp
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@ -4,7 +4,7 @@
void Stepper::tick()
{
if(++_tickCounter > UINT8_MAX - (_speed>>8) )
if(++_tickCounter > UINT16_MAX - _speed )
{
if(_targetStep != _currentStep)
{
@ -13,8 +13,13 @@ void Stepper::tick()
else if(endlessMove) step(endlessDriection);
_tickCounter = 0;
}
if(_speed>>8 < _targetSpeed) _speed = _speed + acceleration;
else if(_speed>>8 > _targetSpeed)_speed = _speed - acceleration;;
/*else if(halfCurrent)
{
if(_tickCounter % 2 == 0) disableOutputs();
else setOutputs();
}*/
if(_speed < _targetSpeed) _speed = _speed + acceleration;
else if(_speed > _targetSpeed)_speed = _speed - acceleration;
}
void Stepper::moveTo(const int32_t step)
@ -27,7 +32,7 @@ void Stepper::moveRelative(const int16_t dist)
moveTo(_targetStep + dist);
}
void Stepper::setSpeed(const uint8_t speed)
void Stepper::setSpeed(const uint16_t speed)
{
_targetSpeed = speed;
if(_targetSpeed < speedFloor) _targetSpeed = speedFloor;
@ -53,7 +58,22 @@ bool Stepper::isStoped()
return _currentStep == _targetStep;
}
void Stepper::step(bool direction)
void Stepper::shutdown()
{
_currentStep = _targetStep;
_speed = 0;
disableOutputs();
}
void Stepper::disableOutputs()
{
writePin(_port, _pinA, false);
writePin(_port, _pinB, false);
writePin(_port, _pinC, false);
writePin(_port, _pinD, false);
}
void Stepper::setOutputs()
{
switch(_currentStep & 0x03)
{
@ -87,6 +107,16 @@ void Stepper::step(bool direction)
writePin(_port, _pinC, false);
writePin(_port, _pinD, false);
}
}
void Stepper::setHalfCurrent( bool current)
{
halfCurrent = current;
}
void Stepper::step(bool direction)
{
_currentStep = _currentStep + (direction ? 1 : -1);
if(endlessMove) _targetStep = _currentStep;
setOutputs();
}