Step Dir stepper interface

[saulGoodmannnn]

Hi, great project! That's what i was looking for. Most people use expensive raspberry pi to controll their robot while you made it run mainly on microcontroler which i love. I would like to use it to controll my robot, and if u want contribute to the project by updating it to make it able to use stepper motors witch step/dir interface. But i need guidence where to start. Can you tell in which part of the code you actually give the servo instruction to move to some angle, so i could start from there

[glumb]

Hi @saulGoodmannnn, thanks for your interest in this project. The servo communication is handled in VarSpeedServo.cpp. Look for 'this->servo' calls.
I propose to provide a class with a matching interface, so the implementation is easily swapped.

[saulGoodmannnn]

Ok thanks for pointing me in the right direction. Right now me and my friend are working on 3DOF robot (only translations and no rotation) and I'm trying to write my custom controller for this on stm32. Right now im working on interpolation, and it's going kinda hard lol. If i fail to make my own controller i will adapt this to step/dir, and if i succeed, we will try to make our robot 6dof using your controller, because with rotation i have no idea where to event start and i'm pretty sure the way i'm writing my controller it would freeze trying to controll 6 axis (im not even sure if it would even handle 3 lol)

[saulGoodmannnn]

@glumb OK i don't have skills nor time to make my own controller. I will try to adapt yours to work with step/dir stepper drivers. Can you give me also samo pointers how to write my own kinematics? I have different model of robot. It will be used as science club project. I will make sure to give you all the credentials. It was quite hard to find open sourde robot controller that's based on microcontroller and not raspberryPi. I will try to give it more spotlight. I'm really thankfull for your help

[glumb]

https://github.com/glumb/mrc/blob/master/src/Kinematic.cpp