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Задание относительных координат в SetTarget #11

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Merged
merged 1 commit into from
Nov 29, 2022
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Задание относительных координат в SetTarget #11

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8 changes: 4 additions & 4 deletions src/GyverPlanner.h
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Original file line number Diff line number Diff line change
Expand Up @@ -179,16 +179,16 @@ class GPlanner {
}

// установить цель в шагах и начать движение. ~100 us
bool setTarget(int32_t target[], GS_posType type = ABSOLUTE) {
bool setTarget(const int32_t target[], GS_posType type = ABSOLUTE) {
if (changeSett) { // применяем настройки
setMaxSpeed(nV);
changeSett = 0;
}

S = 0; // путь
for (uint8_t i = 0; i < _AXLES; i++) { // для всех осей
if (type == RELATIVE) target[i] += steppers[i]->pos; // если относительное смещение - прибавляем текущий pos
tar[i] = target[i]; // запоминаем цель
if (type == RELATIVE) tar[i] += steppers[i]->pos; // если относительное смещение - прибавляем текущий pos
dS[i] = abs(tar[i] - steppers[i]->pos); // модуль ошибки по оси
steppers[i]->dir = (steppers[i]->pos < tar[i]) ? 1 : -1;// направление движения по оси
if (dS[i] > S) S = dS[i]; // ищем максимальное отклонение
Expand Down Expand Up @@ -246,7 +246,7 @@ class GPlanner {
return 1;
}

bool setTarget(int16_t target[], GS_posType type = ABSOLUTE) {
bool setTarget(const int16_t target[], GS_posType type = ABSOLUTE) {
int32_t tar[_AXLES];
for (uint8_t i = 0; i < _AXLES; i++) tar[i] = target[i];
return setTarget(tar, type);
Expand Down Expand Up @@ -400,4 +400,4 @@ class GPlanner {
bool changeSett = 0; // флаг, что изменились настройки
Stepper<_DRV>* steppers[_AXLES];
};
#endif
#endif