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more advanced backlash compensation

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Signed-off-by: Stepan Usatyuk <usaatyuk@ustk.me>
This commit is contained in:
Stepan Usatiuk
2019-05-10 16:01:24 +03:00
parent 84f4668296
commit 33e0c82364
6 changed files with 60 additions and 21 deletions
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9
Firmware/EggbotWireless/include/Stepper.h
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@@ -1,6 +1,8 @@
#ifndef STEPPER_H
#define STEPPER_H
enum backlashCompType { typeClockwise, typeCounterClockwise, typeBoth };
class Stepper {
private:
int stepsPerRevolution;
@@ -18,9 +20,14 @@ class Stepper {
void step(int steps);
float pos = 0;
int limit;
bool compAlways;
backlashCompType backlashComp;
public:
Stepper(int pin1, int pin2, int pin3, int pin4, int stepsPerRevolution, int backlashSteps, int limit, float degreesPerMM);
Stepper(int pin1, int pin2, int pin3, int pin4, int stepsPerRevolution,
int backlashSteps, int limit, float degreesPerMM,
backlashCompType backlashComp, bool compAlways);
int getRemainingSteps();
void rotate(float degrees);
void rotateTo(float degrees);