"AccelStepper" can be improved #6
Description
the "AccelStepper" library can be improved. This one accumulates in time a software error. It can be interesting to mathematically integrate this one. Where the "AccelStepper" lib makes
unsigned long time = micros();
if (time - _lastStepTime >= _stepInterval)
{
if (_direction == DIRECTION_CW)
{
_currentPos += 1;
}
else
{
_currentPos -= 1;
}
step(_currentPos);
_lastStepTime = time;
return true;
}
I had coded a version with this fix, my lib is much less complete than AccelStepper but takes into account the software error. As a comparison in my lib I did like this . "this->m_ei" is integrate error
unsigned long r_elsp= micros() - this->m_elaps;
if( (_mv_type == MOVE_TYPE::HALF_STEP ? this->m_inter_delay/2.0 : this->m_inter_delay) <=r_elsp-this->m_ie)
{
this->next_step(_mv_type);
this->m_elaps = micros();
this->m_ie += this->m_inter_delay-r_elsp;
step++;
}