read the encoders

read the encoders

read the encoders

pipelined read of the encoder angle used for high speed reads, but value is always one read behind

when sampling the mean of encoder if we are on roll over edge we can have an issue so we have this function to do the mean correctly

this was written to do the PID loop not modeling a DC servo but rather using features of stepper motor.

Errors: 0 : Success 1 : Data too long 2 : NACK on transmit of address 3 : NACK on transmit of data 4 : Other error

startscrolldiagleft Activate a diagonal scroll for rows start through stop Hint, the display is 16 rows tall. To scroll the whole display, run: displa

startscrolldiagright Activate a diagonal scroll for rows start through stop Hint, the display is 16 rows tall. To scroll the whole display, run: displ

startscrollleft Activate a right handed scroll for rows start through stop Hint, the display is 16 rows tall. To scroll the whole display, run: displa

startscrollright Activate a right handed scroll for rows start through stop Hint, the display is 16 rows tall. To scroll the whole display, run: displ

this function is called on the rising edge of a step from external device

when we are microstepping and are in between steps the probability the stepper motor did not move is high. That is the actualAngle will be correct but

this is the velocity PID feedback loop

static int motorparams_cmd(sCmdUart *ptrUart,int argc, char * argv[]) { if (0 == argc) { CommandPrintf(ptrUart,"currentMa %d\n\r",NVM->motorParams

Return the size of the display (per current rotation)