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stepper: Remove min_stop_interval from mcu code

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Now that the host never uses a min_stop_interval, remove it from the
mcu code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2021-04-25 15:02:42 -04:00
parent b1ea4f3bef
commit 8f76e53c0e
6 changed files with 58 additions and 76 deletions
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17
docs/MCU_Commands.md
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@@ -138,17 +138,12 @@ This section lists some commonly used config commands.
sampled at regular interval using the query_analog_in command (see
below).
* `config_stepper oid=%c step_pin=%c dir_pin=%c min_stop_interval=%u
invert_step=%c` : This command creates an internal stepper
object. The 'step_pin' and 'dir_pin' parameters specify the step and
direction pins respectively; this command will configure them in
digital output mode. The 'invert_step' parameter specifies whether a
step occurs on a rising edge (invert_step=0) or falling edge
(invert_step=1). The 'min_stop_interval' implements a safety
feature - it is checked when the micro-controller finishes all moves
for a stepper - if it is non-zero it specifies the minimum number of
clock ticks since the last step. It is used as a check on the
maximum stepper velocity that a stepper may have before stopping.
* `config_stepper oid=%c step_pin=%c dir_pin=%c invert_step=%c` : This
command creates an internal stepper object. The 'step_pin' and
'dir_pin' parameters specify the step and direction pins
respectively; this command will configure them in digital output
mode. The 'invert_step' parameter specifies whether a step occurs on
a rising edge (invert_step=0) or falling edge (invert_step=1).
* `config_endstop oid=%c pin=%c pull_up=%c stepper_count=%c` : This
command creates an internal "endstop" object. It is used to specify