[Stepper] Updated microstepping implementation

src/shared/actuators/Stepper.h

@@ -125,6 +125,7 @@ protected:
     miosix::GpioPin directionPin;
     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

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)