Sternenlabor/EggDuino
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

update to version 1.3

Browse Source 
see version history
This commit is contained in:
cocktailyogi
2015-03-27 16:38:37 +01:00
parent 77f9c1dbdf
commit d8cc9bdccd
5 changed files with 81 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files

23
AccelStepper.cpp
View File

@@ -1,7 +1,7 @@
// AccelStepper.cpp
//
// Copyright (C) 2009-2013 Mike McCauley
// $Id: AccelStepper.cpp,v 1.17 2013/08/02 01:53:21 mikem Exp mikem $
// $Id: AccelStepper.cpp,v 1.19 2014/10/31 06:05:27 mikem Exp mikem $
#include "AccelStepper.h"
@@ -45,11 +45,10 @@ boolean AccelStepper::runSpeed()
return false;
unsigned long time = micros();
// Gymnastics to detect wrapping of either the nextStepTime and/or the current time
unsigned long nextStepTime = _lastStepTime + _stepInterval;
// Gymnastics to detect wrapping of either the nextStepTime and/or the current time
if ( ((nextStepTime >= _lastStepTime) && ((time >= nextStepTime) || (time < _lastStepTime)))
|| ((nextStepTime < _lastStepTime) && ((time >= nextStepTime) && (time < _lastStepTime))))
{
if (_direction == DIRECTION_CW)
{
@@ -196,7 +195,7 @@ AccelStepper::AccelStepper(uint8_t interface, uint8_t pin1, uint8_t pin2, uint8_
_targetPos = 0;
_speed = 0.0;
_maxSpeed = 1.0;
_acceleration = 1.0;
_acceleration = 0.0;
_sqrt_twoa = 1.0;
_stepInterval = 0;
_minPulseWidth = 1;
@@ -219,6 +218,8 @@ AccelStepper::AccelStepper(uint8_t interface, uint8_t pin1, uint8_t pin2, uint8_
_pinInverted[i] = 0;
if (enable)
enableOutputs();
// Some reasonable default
setAcceleration(1);
}
AccelStepper::AccelStepper(void (*forward)(), void (*backward)())
@@ -228,7 +229,7 @@ AccelStepper::AccelStepper(void (*forward)(), void (*backward)())
_targetPos = 0;
_speed = 0.0;
_maxSpeed = 1.0;
_acceleration = 1.0;
_acceleration = 0.0;
_sqrt_twoa = 1.0;
_stepInterval = 0;
_minPulseWidth = 1;
@@ -251,6 +252,8 @@ AccelStepper::AccelStepper(void (*forward)(), void (*backward)())
int i;
for (i = 0; i < 4; i++)
_pinInverted[i] = 0;
// Some reasonable default
setAcceleration(1);
}
void AccelStepper::setMaxSpeed(float speed)
@@ -276,8 +279,8 @@ void AccelStepper::setAcceleration(float acceleration)
{
// Recompute _n per Equation 17
_n = _n * (_acceleration / acceleration);
// New c0 per Equation 7
_c0 = sqrt(2.0 / acceleration) * 1000000.0;
// New c0 per Equation 7, with correction per Equation 15
_c0 = 0.676 * sqrt(2.0 / acceleration) * 1000000.0; // Equation 15
_acceleration = acceleration;
computeNewSpeed();
}
@@ -347,6 +350,8 @@ void AccelStepper::setOutputPins(uint8_t mask)
uint8_t numpins = 2;
if (_interface == FULL4WIRE || _interface == HALF4WIRE)
numpins = 4;
else if (_interface == FULL3WIRE || _interface == HALF3WIRE)
numpins = 3;
uint8_t i;
for (i = 0; i < numpins; i++)
digitalWrite(_pin[i], (mask & (1 << i)) ? (HIGH ^ _pinInverted[i]) : (LOW ^ _pinInverted[i]));
@@ -545,6 +550,10 @@ void AccelStepper::enableOutputs()
pinMode(_pin[2], OUTPUT);
pinMode(_pin[3], OUTPUT);
}
else if (_interface == FULL3WIRE || _interface == HALF3WIRE)
{
pinMode(_pin[2], OUTPUT);
}
if (_enablePin != 0xff)
{