From 22e490a26aec2d1a3197fc86d8ca28646888d3b5 Mon Sep 17 00:00:00 2001
From: Malaurie Bernard <mbernard@kinouby>
Date: Fri, 28 Jul 2023 10:39:27 +0200
Subject: [PATCH] A few retain accel modifiction forgetten earlier
---
cli.cpp | 4 ++--
motor.cpp | 8 ++++----
motor.h | 2 +-
3 files changed, 7 insertions(+), 7 deletions(-)
diff --git a/cli.cpp b/cli.cpp
index f2db71a..fb25531 100644
--- a/cli.cpp
+++ b/cli.cpp
@@ -271,8 +271,8 @@ void Cli::loop (Stream& input)
{
copyNextToTemp();
if (_temp.length())
- syringe_filled.set_accel_mm_per_sec_per_sec(atof(_temp.c_str()));
- Serial.printf("%sACC: %g mm per second per second\n", _msgHeader, syringe_filled.get_accel_mm_per_sec_per_sec());
+ syringe_filled.set_retain_acceleration_mm_per_sec_per_sec(atof(_temp.c_str()));
+ Serial.printf("%sACC: %g mm per second per second\n", _msgHeader, syringe_filled.get_retain_acceleration_mm_per_sec_per_sec());
}
else if (kw(F("DIR"))) //*******************DIRECTION*******************//
{
diff --git a/motor.cpp b/motor.cpp
index 291ecf2..e196547 100644
--- a/motor.cpp
+++ b/motor.cpp
@@ -4,7 +4,7 @@
Motor :: Motor (MotorHardware_t& stepper): stepper(stepper)
{
set_speed_mm_per_sec(1);
- retain_acceleration_mm_per_sec_per_sec(0.5); // <----- this is not yet configured by user
+ set_retain_acceleration_mm_per_sec_per_sec(0.5); // <----- this is not yet configured by user
}
@@ -27,7 +27,7 @@ void Motor :: set_mm_per_revolution (float mm_per_revolution)
_mm_per_revolution = mm_per_revolution;
}
-void Motor :: retain_acceleration_mm_per_sec_per_sec (float retain_acceleration_mm_per_sec_per_sec)
+void Motor :: set_retain_acceleration_mm_per_sec_per_sec (float retain_acceleration_mm_per_sec_per_sec)
//This is useful only to use the limit switch
{
if (_retain_acceleration_mm_per_sec_per_sec == 0)
@@ -104,7 +104,7 @@ void Motor :: move_to_step_limit_switch (int step)
{
#if !CORE_MOCK
cli();
- retain_acceleration_mm_per_sec_per_sec(_retain_acceleration_mm_per_sec_per_sec);
+ set_retain_acceleration_mm_per_sec_per_sec(_retain_acceleration_mm_per_sec_per_sec);
if (_mm_per_revolution > 0 && _steps_per_revolution > 0)
stepper.moveTo(_clockwise_equals_forward? step: -step);
sei();
@@ -182,7 +182,7 @@ void Motor :: stay_here ()
cli();
stepper.setAcceleration(1e20);
stepper.moveTo(stepper.currentPosition()); // change target to here
- retain_acceleration_mm_per_sec_per_sec(_retain_acceleration_mm_per_sec_per_sec);
+ set_retain_acceleration_mm_per_sec_per_sec(_retain_acceleration_mm_per_sec_per_sec);
sei();
#endif
}
diff --git a/motor.h b/motor.h
index fbb7f83..3ad86aa 100644
--- a/motor.h
+++ b/motor.h
@@ -47,7 +47,7 @@ public:
void set_steps_per_revolution(float steps_per_revolution);
void set_mm_per_revolution (float mm_per_revolution);
- void retain_acceleration_mm_per_sec_per_sec (float acceleration_mm_per_sec_per_sec);
+ void set_retain_acceleration_mm_per_sec_per_sec (float acceleration_mm_per_sec_per_sec);
void set_clockwise_equals_forward (bool forward_clockwise);
void set_speed_mm_per_sec (float mm_per_sec);
--
GitLab