get-speed

C++ implementation

#pragma XOD evaluate_on_pin disable
#pragma XOD evaluate_on_pin enable input_DO

node {
    void evaluate(Context ctx) {
        // Get the stepper instance
        auto stepper = getValue<input_DEV>(ctx);

        if (isSettingUp()) {
            // Short-circuit DEV and DEV'
            emitValue<output_DEVU0027>(ctx, stepper);
        }

        // Only proceed if the DO input is dirty (pulsed)
        if (!isInputDirty<input_DO>(ctx))
            return;

        // Get the current position
        int32_t speed = stepper->getCurrentSpeedInMilliHz();
        speed = speed/1000;

        // Emit the position
        emitValue<output_SPD>(ctx, (Number)speed);

        // Emit a pulse to indicate the action was successful
        emitValue<output_DONE>(ctx, 1);
    }
}