* FUNCTION: ftoa * AUTHOR = TRAMPAS STERN * FILE = strio.c * DATE = 2/6/2003 4:27:14 PM * * PARAMETERS: long,*str, int count

This function will process commands from the UART

find the next page to write

this is precise move and modulo of A4954_NUM_MICROSTEPS is a full step. stepAngle is in A4954_NUM_MICROSTEPS units.. The A4954 has no idea where the m

The encoder needs to be calibrated to the motor. we will assume full step detents are correct, ex 1.8 degree motor will have 200 steps for 360 degrees

returns -1 if no data, else returns number of data points remaining.

this function can not be called in interrupt context as the overflow interrupt for tC4 needs to run.

bool StepperCtrl::changeMicrostep(uint16_t microSteps) { bool state=TC5_ISR_Enabled; disableTCInterrupts(); systemParams.microsteps=microSteps; mo

read the encoders

the delimiter is command/parameter delimiter by default a ' '0x20 is used but for the TDR with GUI a ':' was preferred, not sure why set to ' '/0x20 i

sets up the pins for the board

clear everything