The parameter config::AxisConfig::uSteps was supposed to be
microstepping resolution, but it's instead being used as the driver's
MRES directly.
To avoid a runtime conversion, rename the field to mRes and define a new
enum listing all the possible (and valid) microstepping resolutions.
This simplifies the code and makes clear the stepsPerUnit scale.
Assign correct stepsPerUnit to all axes as a result, including working
limits.
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.
Instead of stepping halfway, step ~1/3 of the way through.
This ensures we can check if the steps performed is correct due to the
internal step subtraction.
- 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