modules::pulse_gen::PulseGen Class Reference

Public Member Functions
	PulseGen (steps_t max_jerk, steps_t acceleration)
steps_t	Jerk () const
void	SetJerk (steps_t max_jerk)
	Set maximum jerk for the axis.
steps_t	Acceleration () const
void	SetAcceleration (steps_t accel)
	Set acceleration for the axis.
bool	PlanMoveTo (pos_t pos, steps_t feed_rate, steps_t end_rate=0)
void	AbortPlannedMoves (bool halt=true)
pos_t	Position () const
pos_t	CurPosition () const
void	SetPosition (pos_t x)
steps_t	Rate () const
bool	QueueEmpty () const
bool	Full () const
uint8_t	PlannedMoves () const
st_timer_t	Step (const hal::tmc2130::MotorParams &motorParams)

Member Function Documentation

AbortPlannedMoves()

void modules::pulse_gen::PulseGen::AbortPlannedMoves

(

bool

halt = true

)

Stop whatever moves are being done

Parameters

halt	When true, also abruptly stop axis movement.

Acceleration()

steps_t modules::pulse_gen::PulseGen::Acceleration ( ) const

inline

Returns

the acceleration for the axis

CurPosition()

pos_t modules::pulse_gen::PulseGen::CurPosition

(

)

const

Fetch the current position of the axis while stepping. This function is expensive! It's necessary only in exceptional cases. For regular usage, Position() should probably be used instead.

Returns

the current position of the axis

Full()

bool modules::pulse_gen::PulseGen::Full ( ) const

inline

Returns

false if new moves can still be planned

Jerk()

steps_t modules::pulse_gen::PulseGen::Jerk ( ) const

inline

Returns

the jerk for the axis

PlanMoveTo()

bool modules::pulse_gen::PulseGen::PlanMoveTo	(	pos_t	pos,
		steps_t	feed_rate,
		steps_t	end_rate = 0
	)

Enqueue a single move in steps starting and ending at zero speed with maximum feedrate. Moves can only be enqueued if the axis is not Full().

Parameters

pos	target position
feed_rate	maximum feedrate
end_rate	endding feedrate (may not be reached!)

Returns

true if the move has been enqueued

Position()

pos_t modules::pulse_gen::PulseGen::Position ( ) const

inline

Returns

the head position of the axis at the end of all moves

QueueEmpty()

bool modules::pulse_gen::PulseGen::QueueEmpty ( ) const

inline

Returns

true if all planned moves have been finished

Rate()

steps_t modules::pulse_gen::PulseGen::Rate ( ) const

inline

Fetch the target rate of the last planned segment, or the current effective rate when the move has been aborted.

SetPosition()

void modules::pulse_gen::PulseGen::SetPosition ( pos_t  x )

inline

Set the position of the axis Should only be called when the queue is empty.

Parameters

x	position to set

Step()

st_timer_t modules::pulse_gen::PulseGen::Step ( const hal::tmc2130::MotorParams &  motorParams )

inline

Single-step the axis

Returns

the interval for the next tick

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The documentation for this class was generated from the following files:

• src/modules/pulse_gen.h
• src/modules/pulse_gen.cpp