move-continuous-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;

        // Validate the stepper instance
        if (!stepper) {
            raiseError(ctx); // Invalid stepper instance
            return;
        }

        // Get the speed parameter
        auto speed = getValue<input_SPD>(ctx); // Speed in steps/s (positive or negative)

        // Set continuous speed
        stepper->setSpeedInHz(abs(speed));
        if (speed > 0) {
            stepper->runForward();
        } else if (speed < 0) {
            stepper->runBackward();
        } else {
            stepper->stopMove(); // Stop if speed is 0
        }

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