set-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 mode and speed value
        //auto mode = getValue<input_MODE>(ctx); // 0 = us, 1 = ticks, 2 = Hz, 3 = milliHz
        
        auto value = getValue<input_VAL>(ctx); // Speed value in selected unit

        int8_t result = -1;

        // Perform the action based on mode
        /*
        switch ((int)mode) {
            case 0: // Microseconds
                result = stepper->setSpeedInUs((uint32_t)value);
                break;
            case 1: // Ticks
                result = stepper->setSpeedInTicks((uint32_t)value);
                break;
            case 2: // Hz
                result = stepper->setSpeedInHz((uint32_t)value);
                break;
            case 3: // milliHz
                result = stepper->setSpeedInMilliHz((uint32_t)value);
                break;
            default:
                raiseError(ctx); // Invalid mode
                return;
        }
        */

        result = stepper->setSpeedInHz((uint32_t)value);
        stepper->applySpeedAcceleration();

        // Check if the operation was successful
        if (result != 0) {
            raiseError(ctx); // Speed setting failed
            return;
        }

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