FEAT changed step-dir constructor form step2rotation to count2value

Author: askuric

examples/utils/communication_test/step_dir/step_dir_listener_simple/step_dir_listener_simple.ino

@@ -8,8 +8,8 @@
 // angle 
 float received_angle = 0;
 
-// StepDirListener( step_pin, dir_pin, counts_per_revolution)
-StepDirListener step_dir = StepDirListener(2, 3, 200);
+// StepDirListener( step_pin, dir_pin, counter_to_value)
+StepDirListener step_dir = StepDirListener(2, 3, 360.0/200.0); // receive the angle in degrees
 void onStep() { step_dir.handle(); }
 
 void setup() {

examples/utils/communication_test/step_dir/step_dir_listener_software_interrupt/step_dir_listener_software_interrupt.ino

@@ -13,8 +13,8 @@
 // angle 
 float received_angle = 0;
 
-// StepDirListener( step_pin, dir_pin, counts_per_revolution)
-StepDirListener step_dir = StepDirListener(4, 5, 200);
+// StepDirListener( step_pin, dir_pin, counter_to_value)
+StepDirListener step_dir = StepDirListener(4, 5, 2.0*_PI/200.0); // receive the angle in radians
 void onStep() { step_dir.handle(); }
 
 // If no available hadware interrupt pins use the software interrupt

examples/utils/communication_test/step_dir/step_dir_motor_example/step_dir_motor_example.ino

@@ -18,8 +18,8 @@ Encoder encoder = Encoder(2, 3, 500);
 void doA() { encoder.handleA(); }
 void doB() { encoder.handleB(); }
 
-// StepDirListener( step_pin, dir_pin, counts_per_revolution)
-StepDirListener step_dir = StepDirListener(A4, A5, 200);
+// StepDirListener( step_pin, dir_pin, counter_to_value)
+StepDirListener step_dir = StepDirListener(A4, A5, 2.0*_PI/200);
 void onStep() { step_dir.handle(); }
 
 void setup() {

src/communication/StepDirListener.cpp

@@ -1,9 +1,9 @@
 #include "StepDirListener.h"
 
-StepDirListener::StepDirListener(int _pinStep, int _pinDir, float _step_per_rotation){
+StepDirListener::StepDirListener(int _pinStep, int _pinDir, float _counter_to_value){
     pin_step = _pinStep;
     pin_dir = _pinDir;
-    step_per_rotation = _step_per_rotation;
+    counter_to_value = _counter_to_value;
 }
 
 void StepDirListener::init(){
@@ -36,5 +36,5 @@ void StepDirListener::handle(){
 }
 // calculate the position from counter
 float StepDirListener::getValue(){
-    return (float) count / step_per_rotation * _2PI;
+    return (float) count * counter_to_value;
 }

src/communication/StepDirListener.h

@@ -15,9 +15,9 @@ class StepDirListener
      * Constructor for step/direction interface
      *  @param step              - pin
      *  @param direction         - pin
-     *  @param step_per_rotation - number of steps per motor rotation
+     *  @param counter_to_value  - step counter to value
      */
-    StepDirListener(int pinStep, int pinDir, float step_per_rotation = 1);
+    StepDirListener(int pinStep, int pinDir, float counter_to_value = 1);
     /**
      * Start listenning for step commands
      * 
@@ -50,7 +50,7 @@ class StepDirListener
 
   private:
     float* attached_variable = nullptr; //!< pointer to the attached variable 
-    long step_per_rotation; //!< number of steps per rotation 
+    float counter_to_value; //!< step counter to value 
     bool step_active = 0; //!< current step pin status (HIGH/LOW) - debouncing variable
 };