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3steppersLB: seems like independent moving is OK

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This commit is contained in:
Edward Emelianov
2021-12-01 17:56:19 +03:00
parent d0ecad3877
commit b24111f884
90 changed files with 377 additions and 1349 deletions
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12
F0-nolib/3steppersLB/steppers.h
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@@ -38,11 +38,12 @@ typedef enum{
} stp_state;
// end-switches reaction
typedef enum{
enum{
ESW_IGNORE, // don't stop @ end-switch
ESW_ANYSTOP, // stop @ esw in any moving direction
ESW_STOPMINUS // stop only in negative moving
} esw_react;
ESW_STOPMINUS, // stop only in negative moving
ESW_AMOUNT // number of records
};
// find zero stages: fast -> 0, slow -> +, slow -> 0
@@ -57,7 +58,12 @@ errcodes getpos(uint8_t i, int32_t *position);
errcodes getremainsteps(uint8_t i, int32_t *position);
errcodes motor_absmove(uint8_t i, int32_t abssteps);
errcodes motor_relmove(uint8_t i, int32_t relsteps);
errcodes motor_relslow(uint8_t i, int32_t relsteps);
errcodes motor_goto0(uint8_t i);
uint8_t geteswreact(uint8_t i);
void emstopmotor(uint8_t i);
void stopmotor(uint8_t i);
stp_state getmotstate(uint8_t i);
void process_steppers();