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fome-fw
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stepper shadowing

This commit is contained in:
Matthew Kennedy 2023-11-01 14:31:21 -07:00
parent e625684c91
commit 6a472b02f3
2 changed files with 15 additions and 15 deletions
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28
firmware/hw_layer/stepper.cpp
View File

@ -167,7 +167,7 @@ void StepDirectionStepper::setDirection(bool isIncrementing) {
m_currentDirection = isIncrementing;
}
directionPin.setValue(isIncrementing);
m_directionPin.setValue(isIncrementing);
}
bool StepDirectionStepper::pulse() {
@ -175,15 +175,15 @@ bool StepDirectionStepper::pulse() {
if (!engine->isMainRelayEnabled())
return false;
enablePin.setValue(false); // enable stepper
m_enablePin.setValue(false); // enable stepper
stepPin.setValue(true);
m_stepPin.setValue(true);
pause();
stepPin.setValue(false);
m_stepPin.setValue(false);
pause();
enablePin.setValue(true); // disable stepper
m_enablePin.setValue(true); // disable stepper
return true;
}
@ -214,9 +214,9 @@ void StepperMotor::initialize(StepperHw *hardware, int totalSteps) {
void StepDirectionStepper::initialize(brain_pin_e stepPin, brain_pin_e directionPin, pin_output_mode_e directionPinMode, float reactionTime, brain_pin_e enablePin, pin_output_mode_e enablePinMode) {
// avoid double-init
this->directionPin.deInit();
this->stepPin.deInit();
this->enablePin.deInit();
m_directionPin.deInit();
m_stepPin.deInit();
m_enablePin.deInit();
if (!isBrainPinValid(stepPin) || !isBrainPinValid(directionPin)) {
return;
@ -224,14 +224,14 @@ void StepDirectionStepper::initialize(brain_pin_e stepPin, brain_pin_e direction
setReactionTime(reactionTime);
this->directionPin.initPin("Stepper DIR", directionPin, directionPinMode);
this->stepPin.initPin("Stepper step", stepPin);
this->enablePin.initPin("Stepper EN", enablePin, enablePinMode);
m_directionPin.initPin("Stepper DIR", directionPin, directionPinMode);
m_stepPin.initPin("Stepper step", stepPin);
m_enablePin.initPin("Stepper EN", enablePin, enablePinMode);
// All pins must be 0 for correct hardware startup (e.g. stepper auto-disabling circuit etc.).
this->enablePin.setValue(true); // disable stepper
this->stepPin.setValue(false);
this->directionPin.setValue(false);
m_enablePin.setValue(true); // disable stepper
m_stepPin.setValue(false);
m_directionPin.setValue(false);
m_currentDirection = false;
}

2
firmware/hw_layer/stepper.h
View File

@ -39,7 +39,7 @@ private:
bool m_currentDirection = false;
OutputPin directionPin, stepPin, enablePin;
OutputPin m_directionPin, m_stepPin, m_enablePin;
};
class DcMotor;