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Add high-level motion control interface #96

Merged
merged 5 commits into from Feb 26, 2021
Merged

Add high-level motion control interface #96

merged 5 commits into from Feb 26, 2021

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hannobraun
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Defines motion control traits that drivers can implement, a high-level interface for Stepper that uses those traits, as well as a fallback implementation for drivers that don't support this in software (i.e. all of the currently supported ones) based on RampMaker.

As of now, there are some problems that I'd like to address in follow-up PRs:

  • The target step is unsigned and direction is defined by the sign of the velocity. I think this is weird, and I don't remember why I did it that way (I've started working on this a while ago, before I implemented the required changes in RampMaker).
  • The motion control API does not track the position internally, meaning the target step is always relative to the current position. This is not in line with what actual hardware is like, as far as I've seen.

@hannobraun hannobraun merged commit f08f9f4 into main Feb 26, 2021
@hannobraun hannobraun deleted the motion-control branch February 26, 2021 15:31
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