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stepper backlash compensation

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Signed-off-by: Stepan Usatyuk <usaatyuk@ustk.me>
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Stepan Usatiuk
2019-05-09 14:09:57 +03:00
parent 59cb3071fc
commit 40436f4e08
3 changed files with 36 additions and 11 deletions
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4
Firmware/EggbotWireless/include/Stepper.h
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@@ -10,15 +10,17 @@ class Stepper {
int pin4;
int curStep = 1;
int remainingSteps;
int backlashSteps;
bool direction;
void clockwise();
void counterClockwise();
public:
Stepper(int pin1, int pin2, int pin3, int pin4, int stepsPerRevolution);
Stepper(int pin1, int pin2, int pin3, int pin4, int stepsPerRevolution, int backlashSteps);
void step(int steps);
void rotate(float degrees);
void doStep();
bool finished();
};
#endif