axis.h

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#pragma once
#include <stdint.h>
#include "../unit.h"
 
namespace config {
 
using namespace unit;
 
enum MRes : uint8_t {
    MRes_256 = 0,
    MRes_128 = 1,
    MRes_64 = 2,
    MRes_32 = 3,
    MRes_16 = 4,
    MRes_8 = 5,
    MRes_4 = 6,
    MRes_2 = 7,
    MRes_1 = 8
};
 
struct AxisConfig {
    bool dirOn; 
    MRes mRes; 
    uint8_t iRun; 
    uint8_t iHold; 
    bool stealth; 
    long double stepsPerUnit; 
    int8_t sg_thrs; 
};
 
enum Axis : uint8_t {
    Pulley,
    Selector,
    Idler,
    _Axis_Last = Idler
};
 
static constexpr uint8_t NUM_AXIS = Axis::_Axis_Last + 1;
 
template <UnitBase B>
struct AxisLimits {
    static constexpr UnitBase base = B;
    Unit<long double, B, Lenght> lenght; 
    Unit<long double, B, Speed> jerk; 
    Unit<long double, B, Accel> accel; 
};
 
typedef AxisLimits<Millimeter> PulleyLimits; 
typedef AxisLimits<Millimeter> SelectorLimits; 
typedef AxisLimits<Degree> IdlerLimits; 
 
} // namespace config