Add getters/setters for Jerk in Motion/PulseGen

This allows us to make tests that expect jerk to be the same across two
axes, even if they're statically configured differently.

src/modules/motion.h

@@ -151,6 +151,20 @@ public:
         axisData[axis].ctrl.SetAcceleration(accel);
     }
 
+    /// Get current jerk for the selected axis
+    /// @param axis axis affected
+    /// @returns jerk
+    steps_t Jerk(Axis axis) const {
+        return axisData[axis].ctrl.Jerk();
+    }
+
+    /// Set maximum jerk for the selected axis
+    /// @param axis axis affected
+    /// @param max_jerk maximum jerk
+    void SetJerk(Axis axis, steps_t max_jerk) {
+        return axisData[axis].ctrl.SetJerk(max_jerk);
+    }
+
     /// State machine doing all the planning and stepping. Called by the stepping ISR.
     /// @returns the interval for the next tick
     st_timer_t Step();

src/modules/pulse_gen.h

@@ -24,6 +24,12 @@ class PulseGen {
 public:
     PulseGen(steps_t max_jerk, steps_t acceleration);
 
+    /// @returns the jerk for the axis
+    steps_t Jerk() const { return max_jerk; };
+
+    /// Set maximum jerk for the axis
+    void SetJerk(steps_t max_jerk) { this->max_jerk = max_jerk; };
+
     /// @returns the acceleration for the axis
     steps_t Acceleration() const { return acceleration; };
 

tests/unit/modules/motion/test_motion.cpp

@@ -32,13 +32,13 @@ TEST_CASE("motion::basic", "[motion]") {
 }
 
 TEST_CASE("motion::dual_move_fwd", "[motion]") {
-    // check for configuration values that we cannot change but should match for this test
-    // to function as expected (maybe this should be a static_assert?)
-    REQUIRE(config::idler.jerk == config::selector.jerk);
-
     // enqueue moves on two axes
     REQUIRE(motion.QueueEmpty());
 
+    // ensure the same jerk is set on both
+    motion.SetJerk(Idler, motion.Jerk(Selector));
+    REQUIRE(motion.Jerk(Idler) == motion.Jerk(Selector));
+
     // ensure the same acceleration is set on both
     motion.SetAcceleration(Idler, motion.Acceleration(Selector));
     REQUIRE(motion.Acceleration(Idler) == motion.Acceleration(Selector));
@@ -57,13 +57,13 @@ TEST_CASE("motion::dual_move_fwd", "[motion]") {
 }
 
 TEST_CASE("motion::dual_move_inv", "[motion]") {
-    // check for configuration values that we cannot change but should match for this test
-    // to function as expected (maybe this should be a static_assert?)
-    REQUIRE(config::idler.jerk == config::selector.jerk);
-
     // enqueue moves on two axes
     REQUIRE(motion.QueueEmpty());
 
+    // ensure the same jerk is set on both
+    motion.SetJerk(Idler, motion.Jerk(Selector));
+    REQUIRE(motion.Jerk(Idler) == motion.Jerk(Selector));
+
     // ensure the same acceleration is set on both
     motion.SetAcceleration(Idler, motion.Acceleration(Selector));
     REQUIRE(motion.Acceleration(Idler) == motion.Acceleration(Selector));