Release 0.2.0

Changes

• Stroking-task uses suspend and resume instead of deleting and recreation to prevent heap fragmentation.
• Refined homeing procedure. Fully configurable via a struct including front or back homeing switch and internal pull-up or pull-down resistors.
• Added a delay-function for patterns: void patternDelay(int milliseconds)
• Debug messages report real world units instead of steps.
• Special debug messages for clipping when speed or acceleration limits are hit.
• Several changes how pattern feed their information back:
  • Removed setDepth(), as this information is not needed inside a pattern.
  • Pattern return relative stroke and not absolute coordinates.
  • Depth-offset is calculated and properly constrained inside StrokeEgine.
  • All pattern updated accordingly.
  • Also fixed the erratic move bug. When depth changes the necessary transfer motion is carried out at the same speed as the overall motion.
• Some minor default parameter changes in the example code snippets.

Update Notes

Homeing Procedure

New syntax for Stroker.enableAndHome(). It now expects a pointer to a endstopProperties-Struct configuring the homeing behaviour.

// Configure Homeing Procedure
static endstopProperties endstop = {
  .homeToBack = true,             // Endstop sits at the rear of the machine
  .activeLow = true,              // switch is wired active low
  .endstopPin = SERVO_ENDSTOP,    // Pin number
  .pinMode = INPUT                // pinmode INPUT with external pull-up resistor
};

...

// Home StrokeEngine
Stroker.enableAndHome(&endstop);