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.
Motion::Full() (without a specific axis) is counter-productive.
When planning new moves the axis needs to be known beforehand, so it
might be as well be given to Full() to check the proper queue.
Implement Motion::SetEnabled (for symmetry with TMC2130::SetEnabled).
Rename DisableAxis to Disable and use the new SetEnabled. This makes the
member names more consistent.
- Remove the combined PlanMove(a,b,c,rate) call. If we allow the units
of the various motors to be changed at compile time, the unit of
rate can vary between axes.
- Build PlanMove on top of the absolute PlanMoveTo.
- Add required stubs for TMC2130.
- Allow each axis mode to be set independently, since we have this
feature for free anyway.
- Rework internals to use PulseGen data types and structs.
Yuri D'Elia
D.R.racer