Add LocCorr_new: another variant of LocCorr (instead of pusirobot used multistepper; some errors fixed); I hope, sometimes I will finish loccorrNG

LocCorr_new/steppers.h

@@ -0,0 +1,39 @@
+/*
+ * This file is part of the loccorr project.
+ * Copyright 2024 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+// set state to `disconnect` after this amount of errors in `moving_finished`
+#define MAX_ERR_CTR     (15)
+
+// amount of ALL motors
+#define NMOTORS (8)
+
+typedef struct{
+    void (*proc_corr)(double, double);
+    char *(*stepstatus)(const char *messageid, char *buf, int buflen);
+    char *(*setstepstatus)(const char *newstatus, char *buf, int buflen);
+    char *(*movefocus)(const char *newstatus, char *buf, int buflen);
+    char *(*moveByU)(const char *val, char *buf, int buflen);
+    char *(*moveByV)(const char *val, char *buf, int buflen);
+    void (*stepdisconnect)();
+} steppersproc;
+
+steppersproc *steppers_connect();
+extern steppersproc* theSteppers;
+