Robotique FIP
Speed profile working
Fork of
Easyspin_lib
by 
Julien Tiron
shieldParams_t Struct Reference
Easyspin shield parameters. More...
#include <easyspin.h>
Data Fields | |
| volatile uint32_t | accu |
| accumulator used to store speed increase smaller than 1 pps | |
| volatile int32_t | currentPosition |
| Position in steps at the start of the goto or move commands. | |
| volatile uint32_t | endAccPos |
| position in step at the end of the accelerating phase | |
| volatile uint32_t | relativePos |
| nb steps performed from the beggining of the goto or the move command | |
| volatile uint32_t | startDecPos |
| position in step at the start of the decelerating phase | |
| volatile uint32_t | stepsToTake |
| nb steps to perform for the goto or move commands | |
| volatile uint16_t | acceleration |
| acceleration in pps^2 | |
| volatile uint16_t | deceleration |
| deceleration in pps^2 | |
| volatile uint16_t | maxSpeed |
| max speed in pps (speed use for goto or move command) | |
| volatile uint16_t | minSpeed |
| min speed in pps | |
| volatile uint16_t | speed |
| current speed in pps | |
| volatile shieldCommand_t | commandExecuted |
| command under execution | |
| volatile dir_t | direction |
| FORWARD or BACKWARD direction. | |
| volatile shieldState_t | motionState |
| Current State of the shield. | |
Detailed Description
Easyspin shield parameters.
Definition at line 375 of file easyspin.h.
Field Documentation
| volatile uint16_t acceleration |
acceleration in pps^2
Definition at line 390 of file easyspin.h.
| volatile uint32_t accu |
accumulator used to store speed increase smaller than 1 pps
Definition at line 377 of file easyspin.h.
| volatile shieldCommand_t commandExecuted |
command under execution
Definition at line 401 of file easyspin.h.
| volatile int32_t currentPosition |
Position in steps at the start of the goto or move commands.
Definition at line 379 of file easyspin.h.
| volatile uint16_t deceleration |
deceleration in pps^2
Definition at line 392 of file easyspin.h.
FORWARD or BACKWARD direction.
Definition at line 403 of file easyspin.h.
| volatile uint32_t endAccPos |
position in step at the end of the accelerating phase
Definition at line 381 of file easyspin.h.
| volatile uint16_t maxSpeed |
max speed in pps (speed use for goto or move command)
Definition at line 394 of file easyspin.h.
| volatile uint16_t minSpeed |
min speed in pps
Definition at line 396 of file easyspin.h.
| volatile shieldState_t motionState |
Current State of the shield.
Definition at line 405 of file easyspin.h.
| volatile uint32_t relativePos |
nb steps performed from the beggining of the goto or the move command
Definition at line 383 of file easyspin.h.
| volatile uint16_t speed |
current speed in pps
Definition at line 398 of file easyspin.h.
| volatile uint32_t startDecPos |
position in step at the start of the decelerating phase
Definition at line 385 of file easyspin.h.
| volatile uint32_t stepsToTake |
nb steps to perform for the goto or move commands
Definition at line 387 of file easyspin.h.
Generated on Tue Jul 12 2022 21:33:48 by
1.7.2