Implemented Stop on Zero Step

2024-09-25 19:46:52 +02:00
parent e97472c2a3
commit 1ad6c75788
4 changed files with 54 additions and 17 deletions
--- a/motor-control/firmware/include/tmc2209/step.hpp
+++ b/motor-control/firmware/include/tmc2209/step.hpp
@@ -60,6 +60,9 @@ public:
    void pulse0(uint n);
    void pulse1(uint n);

+    void pulse0_int(int n);
+    void pulse1_int(int n);
+
    bool wait0(int timeout_ms);
    bool wait1(int timeout_ms);
 };