config: define maxAcceleration (#135)

Move maxAcceleration constant from StrokeEngineHelper to config file Signed-off-by: benoit robert <[email protected]> Co-authored-by: ptibibi <[email protected]>
KinkyMakers · Nov 11, 2024 · d1c0ca1 · d1c0ca1
1 parent 5d7e685
commit d1c0ca1
Show file tree

Hide file tree

Showing 2 changed files with 5 additions and 2 deletions.
diff --git a/Software/src/constants/Config.h b/Software/src/constants/Config.h
@@ -17,6 +17,9 @@ namespace Config {
         // Top linear speed of the device.
         constexpr float maxSpeedMmPerSecond = 900.0f;
 
+        // Top acceleration of the device.
+        constexpr float maxAcceleration = 10000.0f;
+
         // This should match the step/rev of your stepper or servo.
         // N.b. the iHSV57 has a table on the side for setting the DIP switches
         // to your preference.

diff --git a/Software/src/utils/StrokeEngineHelper.h b/Software/src/utils/StrokeEngineHelper.h
@@ -19,7 +19,7 @@ static motorProperties servoMotor{
     .maxSpeed =
         60 * (Config::Driver::maxSpeedMmPerSecond /
               (Config::Driver::pulleyToothCount * Config::Driver::beltPitchMm)),
-    .maxAcceleration = 10000,
+    .maxAcceleration = Config::Driver::maxAcceleration,
     .stepsPerMillimeter =
         Config::Driver::motorStepPerRevolution /
         (Config::Driver::pulleyToothCount * Config::Driver::beltPitchMm),
@@ -39,4 +39,4 @@ static float calculateSensation(float sensationPercentage) {
 }
 
 
-#endif
+#endif