feature to set feedrate

Firmware/MotorControl/include/Config.h

@@ -3,4 +3,8 @@
 
 constexpr unsigned int stsUpdDelay{10};
 
+constexpr float defRPM{2}, defEggLength{60}, defEggDia{45}, xLimit{85};
+constexpr float defYDegPerMM{360 / (PI * defEggDia)},
+    defXDegPerMM{xLimit / defEggLength};
+
 #endif

Firmware/MotorControl/include/Globals.h

@@ -1,29 +1,25 @@
 #include <Arduino.h>
 #include "Pen.h"
 #include "Stepper.h"
+#include "Config.h"
 
 #ifndef GLOBALS_H
 #define GLOBALS_H
 
-#define EGG_DIA 45.0
-#define Y_DEGREES_PER_MM (360 / (PI * EGG_DIA))
-
-#define X_LIMIT 85.0
-#define EGG_LENGTH 60.0
-#define X_DEGREES_PER_MM (X_LIMIT / EGG_LENGTH)
-
 #define STEPS_PER_REVOLUTION (360/1.8) * 32
-#define DEF_RPM 2
 
-Stepper eggStepper(6, 5, STEPS_PER_REVOLUTION, 0, Y_DEGREES_PER_MM);
-Stepper servoStepper(4, 3, STEPS_PER_REVOLUTION, X_LIMIT,
-                     X_DEGREES_PER_MM);
+Stepper eggStepper(6, 5, STEPS_PER_REVOLUTION, 0, defYDegPerMM);
+Stepper servoStepper(4, 3, STEPS_PER_REVOLUTION, xLimit,
+                     defXDegPerMM);
 
 Pen pen(7, 120, 180);
 
 unsigned int eggStepperDelay;
 unsigned int servoStepperDelay;
 
+unsigned int eggDia;
+unsigned int eggLength;
+
 float eggStepperRPM;
 float servoStepperRPM;
 

Firmware/MotorControl/src/main.cpp

@@ -7,7 +7,7 @@
 #include "common/Commands.h"
 #include "common/Status.h"
 
-int curRPM = DEF_RPM;
+int curRPM = defRPM;
 int adjustDelay = 100;
 bool needAdjust;
 
@@ -95,6 +95,10 @@ void execCommand() {
             }
         }
 
+        if (!isnan(command.arg4)) {
+            curRPM = command.arg4;
+        }
+
         adjustRPM();
     }
 
@@ -113,7 +117,7 @@ void setup() {
     OCR2A = 250;
     TCCR2A |= (1 << WGM20) | (1 << CS22);
     TIMSK2 |= (1 << OCIE2A);
-    servoStepper.setPos(X_LIMIT);
+    servoStepper.setPos(xLimit);
     pen.init();
 }