move-by-acceleration

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);
        }

        // Check for valid stepper instance
        if (!stepper) {
            raiseError(ctx); // Invalid stepper instance
            return;
        }

        // Handle new move command
        if (isInputDirty<input_DO>(ctx)) {
            // Get the position parameter
            auto speed = getValue<input_SPD>(ctx); // Target Acceleration
            auto acceleration = getValue<input_ACC>(ctx); // Target Acceleration

            // Start moving to the position
            stepper->setSpeedInHz(abs(speed));
            stepper->moveByAcceleration(acceleration);

            emitValue<output_DONE>(ctx, 1);
        }
    }
}