proj: switching to ESP32C6

components/movement/src/pwmPort.cpp

@@ -19,7 +19,7 @@ PwmPort::PwmPort(ledc_timer_t timer, ledc_channel_t channel, gpio_num_t output,
         .duty_resolution = resolution,
         .timer_num = timer,
         .freq_hz = frequency,
-        .clk_cfg = LEDC_AUTO_CLK,
+        .clk_cfg = LEDC_AUTO_CLK
     };
     ESP_ERROR_CHECK(ledc_timer_config(&ledc_timer));
 

components/movement/src/stepperDrv8833.cpp

@@ -63,7 +63,6 @@ StepperDriverDrv8833::StepperDriverDrv8833(Pins pins, int resolution)
 
     populateLookUps(resolution, _outA1, _outA2, _outB1, _outB2);
 
-    char buffer[resolution * 2 + 10];
     ESP_LOGD("Stepper", "Output Data:");
     ESP_LOG_BUFFER_HEXDUMP("Stepper", _outA1.data(), _outA1.size(), ESP_LOG_DEBUG);
     ESP_LOG_BUFFER_HEXDUMP("Stepper", _outA2.data(), _outA2.size(), ESP_LOG_DEBUG);

components/movement/src/stepperMotor.cpp

@@ -43,7 +43,6 @@ class ProfileGenerator {
     Profile createRapidStartSwingInEnd(float delta) {
         init();
 
-        auto pnt = getStopDistance(_aMax, _wMax);
         auto wMax = _wMax;
         // t0..t1: acceleration to max velocity
         accelUntil(_aMax * 2, 0, [wMax](Point pnt) { return pnt.w > (wMax * 2); });
@@ -159,7 +158,7 @@ class ProfileGenerator {
             t = t + _dT;
             float env = a * t;
             float p = std::sin(sTau * t / TwMax) * env * TwMax / sTau;
-            float w = (p - _pVec.back()) / _dT;
+            float w = (p - pX) / _dT;
             if (w > _wMax) {
                 break;
             }