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
@@ -20,7 +20,7 @@ class StepperDriverDrv8833 : public StepperDriver {
        std::array<gpio_num_t, 4> pins;
    };

-    StepperDriverDrv8833(Pins pins, int resolution);
+    StepperDriverDrv8833(Pins pins, int resolution, float fullscale);
    StepCplx fullStep(int8_t cnt) override;
    StepCplx step(int8_t cnt) override;
    StepCplx setPos(uint8_t pos) override;
@@ -39,4 +39,5 @@ class StepperDriverDrv8833 : public StepperDriver {
    std::vector<uint8_t> _outB1;
    std::vector<uint8_t> _outB2;
    void setOutput(uint8_t pos) override;
+    const uint16_t FullScale;
 };