From 4ac2749452a748dac4b1c076bef0af861af98646 Mon Sep 17 00:00:00 2001
From: Alberto Nidasio <alberto.nidasio@skywarder.eu>
Date: Fri, 12 May 2023 01:01:44 +0200
Subject: [PATCH] [Stepper] Updated microstepping implementation
---
src/shared/actuators/Stepper.h | 18 ++++++++----------
src/shared/actuators/StepperPWM.h | 4 ++--
2 files changed, 10 insertions(+), 12 deletions(-)
diff --git a/src/shared/actuators/Stepper.h b/src/shared/actuators/Stepper.h
index 614058fc0..04e1f31ca 100644
--- a/src/shared/actuators/Stepper.h
+++ b/src/shared/actuators/Stepper.h
@@ -123,8 +123,9 @@ protected:
miosix::GpioPin stepPin;
miosix::GpioPin directionPin;
- float speed; // [rev/s]
- float stepAngle; // [deg/step]
+ float speed; // [rev/s]
+ float stepAngle; // [deg/step]
+ float microStepAngle; // [deg/step]
bool revertDirection;
MicroStep microStep;
miosix::GpioPin enablePin;
@@ -163,6 +164,7 @@ inline void Stepper::setSpeed(float speed) { this->speed = speed; }
inline void Stepper::setMicroStepping(MicroStep microStep)
{
this->microStep = microStep;
+ microStepAngle = stepAngle / static_cast<float>(microStep);
switch (microStep)
{
@@ -201,8 +203,7 @@ inline void Stepper::move(int16_t steps)
if (speed == 0)
return;
- unsigned int halfStepDelay =
- 1e6 / (speed * 360 / stepAngle * static_cast<int>(microStep));
+ unsigned int halfStepDelay = 1e6 / (speed * 360 / microStepAngle);
if (revertDirection == (steps >= 0))
directionPin.low();
@@ -222,10 +223,7 @@ inline void Stepper::move(int16_t steps)
currentPosition += steps;
}
-inline void Stepper::moveDeg(float degrees)
-{
- move(degrees / stepAngle * static_cast<int>(microStep));
-}
+inline void Stepper::moveDeg(float degrees) { move(degrees / microStepAngle); }
inline void Stepper::setPosition(int16_t steps)
{
@@ -234,7 +232,7 @@ inline void Stepper::setPosition(int16_t steps)
inline void Stepper::setPositionDeg(float position)
{
- setPosition(position / stepAngle * static_cast<int>(microStep));
+ setPosition(position / microStepAngle);
}
inline int16_t Stepper::getCurrentPosition() { return currentPosition; }
@@ -242,7 +240,7 @@ inline int16_t Stepper::getCurrentPosition() { return currentPosition; }
inline float Stepper::getCurrentDegPosition()
{
return static_cast<float>(getCurrentPosition()) * stepAngle /
- static_cast<int>(microStep);
+ static_cast<float>(microStep);
}
} // namespace Boardcore
\ No newline at end of file
diff --git a/src/shared/actuators/StepperPWM.h b/src/shared/actuators/StepperPWM.h
index 6f381e4bd..a6fea77b6 100644
--- a/src/shared/actuators/StepperPWM.h
+++ b/src/shared/actuators/StepperPWM.h
@@ -117,13 +117,13 @@ inline StepperPWM::StepperPWM(CountedPWM &pwm, miosix::GpioPin stepPin,
inline void StepperPWM::setSpeed(float speed)
{
this->speed = speed;
- pwm.setFrequency(speed * 360 / stepAngle * static_cast<int>(microStep));
+ pwm.setFrequency(speed * 360 / microStepAngle);
}
inline void StepperPWM::setMicroStepping(MicroStep microStep)
{
Stepper::setMicroStepping(microStep);
- pwm.setFrequency(speed * 360 / stepAngle * static_cast<int>(microStep));
+ pwm.setFrequency(speed * 360 / microStepAngle);
}
inline void StepperPWM::move(int16_t steps)
--
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