rpm is now float #40

laurb9 · Feb 3, 2019 · af7501b · af7501b
1 parent 2fe6a8a
commit af7501b
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Showing 2 changed files with 12 additions and 12 deletions.
diff --git a/src/BasicStepperDriver.cpp b/src/BasicStepperDriver.cpp
@@ -44,7 +44,7 @@ BasicStepperDriver::BasicStepperDriver(short steps, short dir_pin, short step_pi
 /*
  * Initialize pins, calculate timings etc
  */
-void BasicStepperDriver::begin(short rpm, short microsteps){
+void BasicStepperDriver::begin(float rpm, short microsteps){
     pinMode(dir_pin, OUTPUT);
     digitalWrite(dir_pin, HIGH);
 
@@ -65,7 +65,7 @@ void BasicStepperDriver::begin(short rpm, short microsteps){
 /*
  * Set target motor RPM (1-200 is a reasonable range)
  */
-void BasicStepperDriver::setRPM(short rpm){
+void BasicStepperDriver::setRPM(float rpm){
     if (this->rpm == 0){        // begin() has not been called (old 1.0 code)
         begin(rpm, microsteps);
     }
@@ -126,7 +126,7 @@ void BasicStepperDriver::rotate(double deg){
  * Set up a new move (calculate and save the parameters)
  */
 void BasicStepperDriver::startMove(long steps){
-    long speed;
+    float speed;
     // set up new move
     dir_state = (steps >= 0) ? HIGH : LOW;
     last_action_end = 0;
@@ -137,9 +137,9 @@ void BasicStepperDriver::startMove(long steps){
     case LINEAR_SPEED:
         // speed is in [steps/s]
         speed = rpm * motor_steps / 60;
-        // how many steps from 0 to target rpm
+        // how many microsteps from 0 to target rpm
         steps_to_cruise = speed * speed * microsteps / (2 * profile.accel);
-        // how many steps are needed from target rpm to a full stop
+        // how many microsteps are needed from target rpm to a full stop
         steps_to_brake = steps_to_cruise * profile.accel / profile.decel;
         if (steps_remaining < steps_to_cruise + steps_to_brake){
             // cannot reach max speed, will need to brake early

diff --git a/src/BasicStepperDriver.h b/src/BasicStepperDriver.h
@@ -19,7 +19,7 @@
  * calculate the step pulse in microseconds for a given rpm value.
  * 60[s/min] * 1000000[us/s] / microsteps / steps / rpm
  */
-#define STEP_PULSE(steps, microsteps, rpm) (60*1000000L/steps/microsteps/rpm)
+#define STEP_PULSE(steps, microsteps, rpm) (60.0*1000000L/steps/microsteps/rpm)
 
 // don't call yield if we have a wait shorter than this
 #define MIN_YIELD_MICROS 50
@@ -80,7 +80,7 @@ class BasicStepperDriver {
     // tWAKE wakeup time, nSLEEP inactive to STEP (us)
     static const int wakeup_time = 0;
 
-    short rpm = 0;
+    float rpm = 0;
 
     /*
      * Movement state
@@ -114,7 +114,7 @@ class BasicStepperDriver {
     /*
      * Initialize pins, calculate timings etc
      */
-    void begin(short rpm=60, short microsteps=1);
+    void begin(float rpm=60, short microsteps=1);
     /*
      * Set current microstep level, 1=full speed, 32=fine microstepping
      * Returns new level or previous level if value out of range
@@ -129,12 +129,12 @@ class BasicStepperDriver {
     /*
      * Set target motor RPM (1-200 is a reasonable range)
      */
-    void setRPM(short rpm);
-    short getRPM(void){
+    void setRPM(float rpm);
+    float getRPM(void){
         return rpm;
     };
-    short getCurrentRPM(void){
-        return (short)(60*1000000L / step_pulse / microsteps / motor_steps);
+    float getCurrentRPM(void){
+        return (60.0*1000000L / step_pulse / microsteps / motor_steps);
     }
     /*
      * Set speed profile - CONSTANT_SPEED, LINEAR_SPEED (accelerated)