Introduces:
- config::Unit: base class for physical quantities
- motion::AxisUnit: type-checked steps type
"config/unit.h" defines basic physical quantities, which are not
normally used elsewhere besides config.h.
"modules/axisunit.h" extends the modules::motion namespace with
Axis-aware units, with one type per axis per unit.
P_pos_t defines step positions for the pulley, I_pos_t for the idler,
etc. These are defined through the literar operators which are
similarly named and automatically convert a physical quantity to an
AxisUnit at compile time:
P_pos_t pulley_pos = 10.0_P_mm;
Besides type-checking, AxisUnit are otherwise identical to raw step
counts and are intended to be used along with the updated Motion API.
PlanMove/PlanMoveTo has been extended to support moves using these units
or physical quantities. Again, conversion is performed at compile time.
At least for min/max this will ensure types for both arguments are the
same.
This should be a little bit closer to the <cmath> definition that
simply overloads these functions instead.
This matches PulseGen::Position() and avoids confusion around the term
"current": Position() returns the head position in the queue, not the
"live" axis position.
We have PulseGen::CurPosition() now for this purpose, although we don't
expose it to Motion yet.
CurPosition() returns the live axis position, which in this
implementation is inherently expensive to compute.
This shouldn't be required for the MMU, but it /will/ come in handy to
check for the axis position/s in Motion tests.
Make ReadPin return the last value set by WritePin for proper testing.
Add a slow-path to TogglePin that goes through a read-write cycle. This
is useful both for testing and for platforms that don't have an
efficient toggle like AVR.
The cast to Level is incorrect, since the expression returns either 0 or
a positive value if the pin is set. The value is directly assigned to
the underlying uint8_t, meaning that Level::high won't match for levels
greater than 0.
Return a boolean and cast that to Level instead.
Instead of adding #ifdefs for missing headers, create a shim that can be
included everywhere.
"limits.h" includes a bare-bone implementation of numeric_limits (to be
extended as needed).
Yuri D'Elia
D.R.racer
Alan Dragomirecký
DRracer
Alex Voinea
VintagePC