Revision 27:990963ed581b, committed 2016-09-08

Comitter:

Davidroid

Date:

Thu Sep 08 12:38:35 2016 +0000

Parent:

26:fd83fecf1ef5

Child:

28:f6093f7cdc09

Commit message:

Initialization function updated.

Changed in this revision

--- a/Components/l6474/l6474.h	Fri Apr 08 12:47:39 2016 +0000
+++ b/Components/l6474/l6474.h	Thu Sep 08 12:38:35 2016 +0000
@@ -450,17 +450,17 @@
  *----------------------------------------------------------------------------*/
 typedef struct
 {
-  /* Acceleration rate in step/s2. Range: (0..+inf). */
-  int acceleration_step_s2;
+  /* Acceleration rate in pps^2. Range: (0..+inf). */
+  int acceleration_pps_2;
 
-  /* Deceleration rate in step/s2. Range: (0..+inf). */
-  int deceleration_step_s2;
+  /* Deceleration rate in pps^2. Range: (0..+inf). */
+  int deceleration_pps_2;
 
-  /* Maximum speed in step/s. Range: (30..10000]. */
-  int maximum_speed_step_s;
+  /* Maximum speed in pps. Range: (30..10000]. */
+  int maximum_speed_pps;
 
-  /* Minimum speed in step/s. Range: [30..10000). */
-  int minimum_speed_step_s;
+  /* Minimum speed in pps. Range: [30..10000). */
+  int minimum_speed_pps;
 
   /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
   float torque_regulation_current_mA;

--- a/Components/l6474/l6474_class.cpp	Fri Apr 08 12:47:39 2016 +0000
+++ b/Components/l6474/l6474_class.cpp	Thu Sep 08 12:38:35 2016 +0000
@@ -1149,6 +1149,10 @@
                     (uint16_t) init->slew_rate |
                     (uint16_t) init->target_swicthing_period
                     );
+  L6474_SetAcceleration((uint16_t) init->acceleration_pps_2);
+  L6474_SetDeceleration((uint16_t) init->deceleration_pps_2);
+  L6474_SetMaxSpeed((uint16_t) init->maximum_speed_pps);
+  L6474_SetMinSpeed((uint16_t) init->minimum_speed_pps);
 }
 
 /**********************************************************