Pimpest
a4691caeed
* Added primary stepper motor driver code to repo * Added odometery encoder code to repo * Added the ability to update encoder wheel ratio via ros service Co-authored-by: Pimpest <82343504+Pimpest@users.noreply.github.com> Co-committed-by: Pimpest <82343504+Pimpest@users.noreply.github.com>
27 lines
703 B
C
27 lines
703 B
C
#pragma once
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#include "hardware/pio.h"
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typedef struct substep_state_t {
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uint calibration_data[4]; // relative phase sizes
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uint clocks_per_us; // save the clk_sys frequency in clocks per us
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uint idle_stop_samples; // after these samples without transitions, assume the encoder is stopped
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PIO pio;
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uint sm;
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uint prev_trans_pos, prev_trans_us;
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uint prev_step_us;
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uint prev_low, prev_high;
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uint idle_stop_sample_count;
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int speed_2_20;
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int stopped;
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int speed;
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uint position;
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uint raw_step;
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} substep_state_t;
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void substep_init_state(PIO pio, int sm, int pin_a, substep_state_t *state);
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void substep_update(substep_state_t *state); |