36 lines
830 B
C++
36 lines
830 B
C++
#include "catch2/catch.hpp"
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#include "pulse_gen.h"
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#include "../pins.h"
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#include <stdio.h>
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using Catch::Matchers::Equals;
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using namespace modules::pulse_gen;
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using hal::tmc2130::MotorParams;
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TEST_CASE("pulse_gen::basic", "[pulse_gen]") {
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MotorParams mp = {
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.idx = 0,
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.dirOn = config::idler.dirOn,
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.csPin = IDLER_CS_PIN,
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.stepPin = IDLER_STEP_PIN,
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.sgPin = IDLER_SG_PIN,
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.uSteps = config::idler.uSteps
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};
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for (int accel = 100; accel <= 5000; accel *= 2) {
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PulseGen pg;
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pg.SetAcceleration(accel);
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pg.Move(100000, 10000);
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unsigned long ts = 0;
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st_timer_t next;
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do {
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next = pg.Step(mp);
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printf("%lu %u\n", ts, next);
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ts += next;
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} while (next);
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printf("\n\n");
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}
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}
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