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3steppers: fix some bugs, add commands eraseflash and setpos

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This commit is contained in:
Edward Emelianov
2022-06-17 12:12:47 +03:00
parent 16f72f6801
commit 6f29257a28
10 changed files with 195 additions and 125 deletions
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16
F0:F030,F042,F072/3steppersLB/steppers.h
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@@ -27,16 +27,18 @@
#define NSTALLEDMAX (5)
// amount of steps to detect stalled state
#define STALLEDSTEPS (15)
// amount of tries to keep current position (need for states near problem places)
#define KEEPPOSMAX (10)
// stepper states
typedef enum{
STP_RELAX, // no moving
STP_ACCEL, // start moving with acceleration
STP_MOVE, // moving with constant speed
STP_MVSLOW, // moving with slowest constant speed (end of moving)
STP_DECEL, // moving with deceleration
STP_STALL, // stalled
STP_ERR // wrong/error state
STP_RELAX, // 0 - no moving
STP_ACCEL, // 1 - start moving with acceleration
STP_MOVE, // 2 - moving with constant speed
STP_MVSLOW, // 3 - moving with slowest constant speed (end of moving)
STP_DECEL, // 4 - moving with deceleration
STP_STALL, // 5 - stalled
STP_ERR // 6 - wrong/error state
} stp_state;
// end-switches reaction