Struct sstep_motion¶

Motion generator state. More...

#include <sstep_internal.h>

Public Attributes¶

Type	Name
int32_t	acc Acceleration limit [Q16 microsteps / period^2].
int64_t	brake_vmax Braking distance from v_max [Q16 microsteps].
int32_t	dec Deceleration limit.
uint8_t	mode 0 hold, 1 move, 2 run.
int64_t	pos Position [Q16 microsteps].
int64_t	target Move target [Q16 microsteps].
int32_t	v_max Velocity limit.
int32_t	v_run Requested velocity of a RUN command.
int32_t	vel Velocity [Q16 microsteps / period].

Detailed Description¶

Integer arithmetic in both numeric backends: positions in 1/65536 microstep, velocities in 1/65536 microstep per slow loop period, accelerations in 1/65536 microstep per period squared.

Public Attributes Documentation¶

variable acc¶

Acceleration limit [Q16 microsteps / period^2].

int32_t sstep_motion::acc;

variable brake_vmax¶

Braking distance from v_max [Q16 microsteps].

int64_t sstep_motion::brake_vmax;

variable dec¶

Deceleration limit.

int32_t sstep_motion::dec;

variable mode¶

0 hold, 1 move, 2 run.

uint8_t sstep_motion::mode;

variable pos¶

Position [Q16 microsteps].

int64_t sstep_motion::pos;

variable target¶

Move target [Q16 microsteps].

int64_t sstep_motion::target;

variable v_max¶

Velocity limit.

int32_t sstep_motion::v_max;

variable v_run¶

Requested velocity of a RUN command.

int32_t sstep_motion::v_run;

variable vel¶

Velocity [Q16 microsteps / period].

int32_t sstep_motion::vel;

The documentation for this class was generated from the following file src/sstep_internal.h