multistepperlite-move

C++ implementation

#pragma XOD require "https://github.com/gunakkoc/MultiStepperLite"

#include <SingleStepperLite.h>

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);
        }

        // Handle STOP pulse
        if (isInputDirty<input_STOP>(ctx)) {
            stepper->stop();
            emitValue<output_DONE>(ctx, 1);
            return;
        }

        // Handle PAUSE pulse
        if (isInputDirty<input_PAUSE>(ctx)) {
            stepper->pause();
            return;
        }

        // Handle GO pulse
        if (isInputDirty<input_GO>(ctx)) {
            auto pps = getValue<input_PPS>(ctx);
            auto nSteps = getValue<input_N>(ctx);

//             if (pps <= 0) {
//                 raiseError<output_ERR>(ctx);
//                 return;
//             }

//!!!!!!!!!!!! // Set direction based on nSteps sign - need struct!
//             bool dir = nSteps < 0;
//             digitalWrite(getValue<input_DIR>(ctx), dir ? HIGH : LOW);

            // Convert PPS to step interval (microseconds)
            uint32_t stepInterval = 1000000 / pps;

            if (nSteps == 0) {
                stepper->start_continuous(stepInterval);
            } else {
                stepper->start_finite(stepInterval, abs(nSteps));
            }
        }

        // Call do_tasks() unless paused or stopped
        if (stepper->is_running()) {
            uint32_t now_us = micros();
            stepper->do_tasks(now_us);
            setImmediate();
        }

        // Output position (remaining steps)
        emitValue<output_POS>(ctx, stepper->get_remaining_steps());

        // Emit DONE if finished
        if (stepper->is_finished()) {
            emitValue<output_DONE>(ctx, 1);
        }
    }
}