Magnezijum-Robotics/magrob
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Added timeout for stepper drivers

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This commit is contained in:
pimpest
2026-01-05 00:34:54 +01:00
parent 457307a656
commit 3d8a16ffa0
2 changed files with 7 additions and 0 deletions
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1
firmware/base/src/config.h
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@@ -10,6 +10,7 @@
#define SM_B 1 #define SM_B 1
#define PULSE_PER_REV (1 / 3200.0) #define PULSE_PER_REV (1 / 3200.0)
#define SPEED_SET_TIMEOUT 1000
//############################################### //###############################################
//================ CONFIG ENCODERS ===================== //================ CONFIG ENCODERS =====================

6
firmware/base/src/main.c
View File

@@ -32,6 +32,7 @@ static double wheel_ratio_r = 1;
static uint prev_time; static uint prev_time;
static int prev_position_l = 0; static int prev_position_l = 0;
static int prev_position_r = 0; static int prev_position_r = 0;
static uint last_speed_change = 100;
static unsigned char stepper_instr[2+sizeof(double)*2] = {}; static unsigned char stepper_instr[2+sizeof(double)*2] = {};
@@ -212,6 +213,7 @@ void stepper_fifo(char c, uint8_t itf) {
double vr = btod(stepper_instr + 10); double vr = btod(stepper_instr + 10);
set_speeds(vl, vr); set_speeds(vl, vr);
last_speed_change = SPEED_SET_TIMEOUT;
// tud_cdc_n_write(itf, (uint8_t const *) stepper_instr, 18); // tud_cdc_n_write(itf, (uint8_t const *) stepper_instr, 18);
// tud_cdc_n_write_flush(itf); // tud_cdc_n_write_flush(itf);
@@ -263,6 +265,10 @@ int main()
while (true) { while (true) {
if(last_speed_change--) {
set_speeds(0, 0);
last_speed_change = SPEED_SET_TIMEOUT;
}
tud_task(); tud_task();
sleep_ms(1); sleep_ms(1);
} }