From 1ff9b81630a4670488c204bb7584b21235fd346c Mon Sep 17 00:00:00 2001
From: Yuri D'Elia <wavexx@thregr.org>
Date: Wed, 7 Jul 2021 16:35:50 +0200
Subject: [PATCH] Rename PulseGen::Move to PlanMoveTo

Make Motion and PulseGen intentionally very similar.
---
 src/modules/pulse_gen.cpp                       | 2 +-
 src/modules/pulse_gen.h                         | 9 ++++++---
 tests/unit/modules/pulse_gen/test_pulse_gen.cpp | 2 +-
 3 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/src/modules/pulse_gen.cpp b/src/modules/pulse_gen.cpp
index 6fe2ba1..a06400d 100644
--- a/src/modules/pulse_gen.cpp
+++ b/src/modules/pulse_gen.cpp
@@ -85,7 +85,7 @@ void PulseGen::CalculateTrapezoid(block_t *block, steps_t entry_speed, steps_t e
     block->final_rate = final_rate;
 }
 
-bool PulseGen::Move(pos_t target, steps_t feed_rate) {
+bool PulseGen::PlanMoveTo(pos_t target, steps_t feed_rate) {
     // Prepare to set up new block
     if (block_index.full())
         return false;
diff --git a/src/modules/pulse_gen.h b/src/modules/pulse_gen.h
index 219acbd..7c6edb5 100644
--- a/src/modules/pulse_gen.h
+++ b/src/modules/pulse_gen.h
@@ -28,9 +28,12 @@ public:
     /// Set acceleration for the axis
     void SetAcceleration(steps_t accel) { acceleration = accel; }
 
-    /// Plan a single move (can only be executed when not Full())
-    /// @returns True if the move has been planned
-    bool Move(pos_t x, steps_t feed_rate);
+    /// Enqueue a single move in steps starting and ending at zero speed with maximum
+    /// feedrate. Moves can only be enqueued if the axis is not Full().
+    /// @param pos target position
+    /// @param feedrate maximum feedrate
+    /// @returns true if the move has been enqueued
+    bool PlanMoveTo(pos_t pos, steps_t feedrate);
 
     /// stop whatever moves are being done
     void AbortPlannedMoves();
diff --git a/tests/unit/modules/pulse_gen/test_pulse_gen.cpp b/tests/unit/modules/pulse_gen/test_pulse_gen.cpp
index c0b2deb..c6cba8d 100644
--- a/tests/unit/modules/pulse_gen/test_pulse_gen.cpp
+++ b/tests/unit/modules/pulse_gen/test_pulse_gen.cpp
@@ -20,7 +20,7 @@ TEST_CASE("pulse_gen::basic", "[pulse_gen]") {
 
     for (int accel = 100; accel <= 5000; accel *= 2) {
         PulseGen pg(10, accel);
-        pg.Move(100000, 10000);
+        pg.PlanMoveTo(100000, 10000);
 
         unsigned long ts = 0;
         st_timer_t next;