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Swapped INT to Long to prevent rolling around error's #12

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Swapped INT to Long to prevent rolling around error's #12

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c5acefb
Update TMC26XStepper.cpp
bobthecooldad Sep 27, 2022
080d95b
Update TMC26XStepper.h
bobthecooldad Sep 27, 2022
b47935f
Update TMC26XStepper.h
bobthecooldad Sep 27, 2022
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8 changes: 4 additions & 4 deletions TMC26XStepper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -108,7 +108,7 @@
* dir_pin - the pin where the direction pin is connected
* step_pin - the pin where the step pin is connected
*/
TMC26XStepper::TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor)
TMC26XStepper::TMC26XStepper(long number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor)
{
//we are not started yet
started=false;
Expand Down Expand Up @@ -226,7 +226,7 @@ unsigned int TMC26XStepper::getSpeed(void) {
Moves the motor steps_to_move steps. If the number is negative,
the motor moves in the reverse direction.
*/
char TMC26XStepper::step(int steps_to_move)
char TMC26XStepper::step(long steps_to_move)
{
if (this->steps_left==0) {
this->steps_left = abs(steps_to_move); // how many steps to take
Expand Down Expand Up @@ -391,7 +391,7 @@ char TMC26XStepper::getStallGuardFilter(void) {
* any value in between will be mapped to the next smaller value
* 0 and 1 set the motor in full step mode
*/
void TMC26XStepper::setMicrosteps(int number_of_steps) {
void TMC26XStepper::setMicrosteps(long number_of_steps) {
long setting_pattern;
//poor mans log
if (number_of_steps>=256) {
Expand Down Expand Up @@ -996,4 +996,4 @@ inline void TMC26XStepper::send262(unsigned long datagram) {

//store the datagram as status result
driver_status_result = i_datagram;
}
}
10 changes: 4 additions & 6 deletions TMC26XStepper.h
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Original file line number Diff line number Diff line change
Expand Up @@ -121,7 +121,7 @@ class TMC26XStepper {
* You can select a different stepping with setMicrosteps() to aa different value.
* \sa start(), setMicrosteps()
*/
TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor=150);
TMC26XStepper(long number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor=150);

/*!
* \brief configures and starts the TMC26X stepper driver. Before you called this function the stepper driver is in nonfunctional mode.
Expand Down Expand Up @@ -165,8 +165,7 @@ class TMC26XStepper {
* If you give any other value it will be rounded to the next smaller number (3 would give a microstepping of 2).
* You can always check the current microstepping with getMicrosteps().
*/
void setMicrosteps(int number_of_steps);

void setMicrosteps(long number_of_steps);
/*!
* \brief returns the effective current number of microsteps selected.
*
Expand All @@ -192,8 +191,7 @@ class TMC26XStepper {
* You can always verify with isMoving() or even use stop() to stop the motor before giving it new step directions.
* \sa isMoving(), getStepsLeft(), stop()
*/
char step(int number_of_steps);

char step(long number_of_steps);
/*!
* \brief Central movement method, must be called as often as possible in the lopp function and is very fast.
*
Expand Down Expand Up @@ -568,7 +566,7 @@ class TMC26XStepper {
unsigned int steps_left; //the steps the motor has to do to complete the movement
int direction; // Direction of rotation
unsigned long step_delay; // delay between steps, in ms, based on speed
int number_of_steps; // total number of steps this motor can take
long number_of_steps; // total number of steps this motor can take
unsigned int speed; // we need to store the current speed in order to change the speed after changing microstepping
unsigned int resistor; //current sense resitor value in milliohm

Expand Down