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proper linear interpolation

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Signed-off-by: Stepan Usatyuk <usaatyuk@ustk.me>
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Stepan Usatiuk
2019-05-10 00:43:47 +03:00
parent 8717e6fe66
commit 3e5ac2de8f
6 changed files with 56 additions and 33 deletions
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6
Firmware/EggbotWireless/include/Stepper.h
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@@ -16,20 +16,24 @@ class Stepper {
void clockwise();
void counterClockwise();
void step(int steps);
int degreesToSteps(float degrees);
float pos = 0;
int limit;
public:
Stepper(int pin1, int pin2, int pin3, int pin4, int stepsPerRevolution, int backlashSteps, int limit, float degreesPerMM);
int getRemainingSteps();
void rotate(float degrees);
void rotateTo(float degrees);
void moveTo(float dist);
void setPos(float degrees);
float getDist(float degrees);
int degreesToSteps(float degrees);
int mmToSteps(float dist);
void doStep();
bool finished();
float getPos();
float getPosMm();
float getDistMm(float pos);
};
#endif