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Merged
merged 2 commits into from
Jan 24, 2024
Merged

STEP/DIR add at STEP8 #3

merged 2 commits into from
Jan 24, 2024

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aoki-rt
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@aoki-rt aoki-rt commented Jan 17, 2024

What does this implement/fix?

STEP8にVelocity-modeだけではなくSTEP/DIR方式で動作するように機能を追加
追加した機能
実行モード4:STEP/DIR方式の左手法
実行モード5:STEP/DIR方式の足立法
実行モード6:STEP/DIR方式の最短走行
調整モード5:STEP/DIR方式で直進確認
調整モード6:STEP/DIR方式で旋回確認

Does this close any currently open issues?

いいえ

How has this been tested?

実機で動作確認をした。
実行モード1,2,3、調整モード2,3のVelocity-modeに影響がないこと
実行モード4,5,6、調整モード5,6のSTEP/DIRで動作すること
を確認した

Any other comments?

Checklists

@github-actions GitHub Actions
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Memory usage change @ 53d472c

Board flash % RAM for global variables %
esp32:esp32:esp32s3 🔺 0 - +3584 0.0 - +0.27 🔺 0 - +24 0.0 - +0.01
Click for full report table
Board TMC5072_STEP5_Straight
flash		 % TMC5072_STEP5_Straight
RAM for global variables		 % TMC5072_STEP8_micromouse
flash		 % TMC5072_STEP8_micromouse
RAM for global variables		 % TMC5072_STEP10_tfMsg
flash		 % TMC5072_STEP10_tfMsg
RAM for global variables		 %
esp32:esp32:esp32s3 0 0.0 0 0.0 3584 0.27 24 0.01 0 0.0 0 0.0
Click for full report CSV 
Board,TMC5072_STEP5_Straight<br>flash,%,TMC5072_STEP5_Straight<br>RAM for global variables,%,TMC5072_STEP8_micromouse<br>flash,%,TMC5072_STEP8_micromouse<br>RAM for global variables,%,TMC5072_STEP10_tfMsg<br>flash,%,TMC5072_STEP10_tfMsg<br>RAM for global variables,%
esp32:esp32:esp32s3,0,0.0,0,0.0,3584,0.27,24,0.01,0,0.0,0,0.0

@ShotaAk
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ShotaAk commented Jan 24, 2024

compile sketchesのCIが失敗してます。
こちらは、CIに使用しているarduino/compile-sketches アクション側でのトラブルが原因です。
arduino/compile-sketches#227

そのため、ローカルでビルドが通ることと、CI上でLintのチェックが通ることを確認します。

@github-actions GitHub Actions
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Memory usage change @ edb7924

Board flash % RAM for global variables %
esp32:esp32:esp32s3 🔺 0 - +3584 0.0 - +0.27 🔺 0 - +24 0.0 - +0.01
Click for full report table
Board TMC5072_STEP5_Straight
flash		 % TMC5072_STEP5_Straight
RAM for global variables		 % TMC5072_STEP8_micromouse
flash		 % TMC5072_STEP8_micromouse
RAM for global variables		 % TMC5072_STEP10_tfMsg
flash		 % TMC5072_STEP10_tfMsg
RAM for global variables		 %
esp32:esp32:esp32s3 0 0.0 0 0.0 3584 0.27 24 0.01 0 0.0 0 0.0
Click for full report CSV 
Board,TMC5072_STEP5_Straight<br>flash,%,TMC5072_STEP5_Straight<br>RAM for global variables,%,TMC5072_STEP8_micromouse<br>flash,%,TMC5072_STEP8_micromouse<br>RAM for global variables,%,TMC5072_STEP10_tfMsg<br>flash,%,TMC5072_STEP10_tfMsg<br>RAM for global variables,%
esp32:esp32:esp32s3,0,0.0,0,0.0,3584,0.27,24,0.01,0,0.0,0,0.0

@ShotaAk ShotaAk merged commit 3f1c9da into main Jan 24, 2024
@ShotaAk ShotaAk deleted the step_dir_add branch January 24, 2024 06:51
ShotaAk pushed a commit that referenced this pull request Feb 5, 2024
@aoki-rt
STEP/DIR add at STEP8 (#3)
be8b721 
* STEP/DIR add at STEP8

* Refactoring to pass clang-format check

---------

Co-authored-by: ShotaAk <s.aoki@rt-net.jp>
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