refactor(flex-stacker): linear motion system and motor task #473
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sfoster1
approved these changes
Nov 7, 2024
| // NOLINTNEXTLINE(misc-non-private-member-variables-in-classes) | ||
| float pulley_diameter; // mm | ||
| [[nodiscard]] constexpr auto get_mm_per_rev() const -> float { | ||
| class BeltConfig { |
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[nit] If everything is going to be public might as well keep it a struct
| break; | ||
| } | ||
| motor_state(m.motor_id).lms_config.microstep = | ||
| static_cast<float>(pow(2, m.microsteps_power)); |
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I think that if you make this pow(2.f, m.microsteps_power) it'll remain a float without the static cast
vegano1
approved these changes
Nov 7, 2024
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This PR simplifies things a bit in the motor task which helps make implementation of the homing routine a bit easier later.