motor control changed to infinit pipeline with continuous buffer

2024-12-22 17:01:06 +01:00
parent eb0eb436ed
commit dd9f59e418
8 changed files with 593 additions and 593 deletions
@@ -0,0 +1,19 @@
+#pragma once
+#include <cmath>
+#include <numbers>
+
+struct StepperConfig {
+    StepperConfig(float stepDeg, int microsteps)
+        : step(stepDeg), resolution(microsteps), resolutionQuad(resolution / 4) {}
+
+    /// @brief Step-size in degree (e.g. 1.8 deg)
+    float step;
+    /// @brief Step-size in radiant (e.g. 1.8 deg)
+    float stepRad{(float)(std::numbers::pi * step / 180)};
+    /// @brief Number of microsteps for four steps
+    int resolution;
+    /// @brief Number of microsteps for four steps
+    int resolutionQuad;
+    /// @brief Number of Steps for full revolution
+    int steps{std::lround(360.0F / step)};
+};