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gin66 merged 2 commits into from
Jun 22, 2024
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Improve documentation for stepper_command_s #270

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Improve documentation for stepper_command_s
HalfVoxel Jun 20, 2024
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Improve docs.
HalfVoxel Jun 22, 2024
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26 changes: 25 additions & 1 deletion src/fas_common.h
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Expand Up @@ -8,11 +8,35 @@
#define MOVE_ERR_SPEED_IS_UNDEFINED -2
#define MOVE_ERR_ACCELERATION_IS_UNDEFINED -3

// ticks is multiplied by (1/TICKS_PER_S) in s
// Low level stepper motor command.
// If steps is 0, then a pause is generated
// If steps is 0, then a pause is generated
//
// You can add these using the addQueueEntry method.
// They will be executed sequentially until the queue runs out.
//
// There are some constraints on the values:
// - `ticks` must be greater or equal to FastAccelStepper::getMaxSpeedInTicks.
// - `ticks*steps` must be greater or equal to MIN_CMD_TICKS
//
// For example:
// A command with ticks=TICKS_PER_S/1000, steps = 3, count_up = true means that:
// 1. The direction pin is set to HIGH.
// 2. One step is generated.
// 3. Exactly 1 ms after the first step, the second step is issued.
// 4. Exactly 1 ms after the second step, the third step is issued.
// 5. The stepper waits for 1 ms.
// 6. The next command is processed.
struct stepper_command_s {
// Number of ticks between each step.
//
// There are `TICKS_PER_S` ticks per second. This may vary between different platforms.
uint16_t ticks;
// Number of steps to send to the stepper motor during this command.
//
// If zero, then this command will be treated as a pause, lasting for a number of ticks given by `ticks`.
uint8_t steps;
// True if the direction pin should be high during this command, false if it should be low.
bool count_up;
};

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