motion: Allow to get the motion controller for any axis

2022-05-11 01:25:19 +02:00 · 2022-05-11 01:25:19 +02:00 · 1a2034f545
parent db494722aa
commit 1a2034f545
1 changed files with 5 additions and 0 deletions
--- a/src/modules/motion.h
+++ b/src/modules/motion.h
@ -340,6 +340,11 @@ public:
        return axisData[axis].drv;
    }

+    /// @returns the controller associated with the particular axis
+    inline const pulse_gen::PulseGen &CtrlForAxis(Axis axis) const {
+        return axisData[axis].ctrl;
+    }
+
 private:
    struct AxisData {
        TMC2130 drv; ///< Motor driver