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Napędza silnik do pozycji docelowej za pomocą zliczania impulsów enkodera lub sterowania czasowego.\u003C\u002Fp>\n\u003C!-- BLOCK_DIAGRAM -->\n\u003Ch2 id=\"source-code\">\u003Ca href=\"#source-code\" class=\"anchor\">#\u003C\u002Fa> Kod źródłowy\u003C\u002Fh2>\n\u003Cdetails class=\"code-details\">\u003Csummary>Pokaż kod Volang\u003C\u002Fsummary>\n\u003Cdiv class=\"code-block\" data-lang=\"volang\">\n\u003Cpre>\u003Ccode class=\"language-volang\">\u003Cspan class=\"variable\">channel\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"stdlib\">input::channel\u003C\u002Fspan>()\n\u003Cspan class=\"variable\">value\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"stdlib\">input::value\u003C\u002Fspan>()\n\n\u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">stop_motors\u003C\u002Fspan>() {\n    \u003Cspan class=\"stdlib\">callback::clear\u003C\u002Fspan>()\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">output\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"forward\"\u003C\u002Fspan>) \u003Cspan class=\"keyword\">or\u003C\u002Fspan> \u003Cspan class=\"variable\">output\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"reverse\"\u003C\u002Fspan>)) {\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"was_forward\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">output\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"forward\"\u003C\u002Fspan>))\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"last_stop_time\"\u003C\u002Fspan>, \u003Cspan class=\"stdlib\">time::uptime\u003C\u002Fspan>())\n    }\n    \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"forward\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">false\u003C\u002Fspan>)\n    \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"reverse\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">false\u003C\u002Fspan>)\n    \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"moving\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">false\u003C\u002Fspan>)\n    \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"rpm\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"last_encoder_pulse_time\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n}\n\n\u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">start_forward\u003C\u002Fspan>() {\n    \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"forward\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">true\u003C\u002Fspan>)\n    \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"reverse\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">false\u003C\u002Fspan>)\n    \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"moving\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">true\u003C\u002Fspan>)\n}\n\n\u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">start_reverse\u003C\u002Fspan>() {\n    \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"forward\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">false\u003C\u002Fspan>)\n    \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"reverse\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">true\u003C\u002Fspan>)\n    \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"moving\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">true\u003C\u002Fspan>)\n}\n\n\u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">set_position\u003C\u002Fspan>(\u003Cspan class=\"variable\">pos\u003C\u002Fspan>) {\n    \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">pos\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">full\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"full_travel_steps\"\u003C\u002Fspan>)\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">full\u003C\u002Fspan> \u003Cspan class=\"operator\">>\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n        \u003Cspan class=\"variable\">pct\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">pos\u003C\u002Fspan> \u003Cspan class=\"operator\">*\u003C\u002Fspan> \u003Cspan class=\"number\">100.0\u003C\u002Fspan> \u003Cspan class=\"operator\">\u002F\u003C\u002Fspan> \u003Cspan class=\"variable\">full\u003C\u002Fspan>\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">pct\u003C\u002Fspan> \u003Cspan class=\"operator\"><\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n            \u003Cspan class=\"variable\">pct\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>\n        }\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">pct\u003C\u002Fspan> \u003Cspan class=\"operator\">>\u003C\u002Fspan> \u003Cspan class=\"number\">100\u003C\u002Fspan>) {\n            \u003Cspan class=\"variable\">pct\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"number\">100\u003C\u002Fspan>\n        }\n        \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position_pct\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">pct\u003C\u002Fspan>)\n    }\n}\n\n\u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">set_rpm\u003C\u002Fspan>(\u003Cspan class=\"variable\">pulses_per_second\u003C\u002Fspan>) {\n    \u003Cspan class=\"variable\">spr\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"steps_per_revolution\"\u003C\u002Fspan>)\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">spr\u003C\u002Fspan> \u003Cspan class=\"operator\">>\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n        \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"rpm\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">pulses_per_second\u003C\u002Fspan> \u003Cspan class=\"operator\">*\u003C\u002Fspan> \u003Cspan class=\"number\">60.0\u003C\u002Fspan> \u003Cspan class=\"operator\">\u002F\u003C\u002Fspan> \u003Cspan class=\"variable\">spr\u003C\u002Fspan>)\n    }\n}\n\n\u003Cspan class=\"keyword\">extern\u003C\u002Fspan> \u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">onStep\u003C\u002Fspan>(\u003Cspan class=\"variable\">v\u003C\u002Fspan>) {\n    \u003Cspan class=\"variable\">start_time\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"move_start_time\"\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">start_pos\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"move_start_position\"\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">target\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"move_target\"\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">is_forward\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">output\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"forward\"\u003C\u002Fspan>)\n\n    \u003Cspan class=\"variable\">pulse_ms\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">is_forward\u003C\u002Fspan>) {\n        \u003Cspan class=\"variable\">pulse_ms\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"stdlib\">math::round\u003C\u002Fspan>(\u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_time_forward\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">*\u003C\u002Fspan> \u003Cspan class=\"number\">1000\u003C\u002Fspan>)\n    } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n        \u003Cspan class=\"variable\">pulse_ms\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"stdlib\">math::round\u003C\u002Fspan>(\u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_time_reverse\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">*\u003C\u002Fspan> \u003Cspan class=\"number\">1000\u003C\u002Fspan>)\n    }\n\n    \u003Cspan class=\"variable\">total_steps\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">target\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"variable\">start_pos\u003C\u002Fspan>\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">total_steps\u003C\u002Fspan> \u003Cspan class=\"operator\"><\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n        \u003Cspan class=\"variable\">total_steps\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"variable\">total_steps\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"variable\">total_ms\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">total_steps\u003C\u002Fspan> \u003Cspan class=\"operator\">*\u003C\u002Fspan> \u003Cspan class=\"variable\">pulse_ms\u003C\u002Fspan>\n    \u003Cspan class=\"variable\">elapsed\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"stdlib\">time::uptime\u003C\u002Fspan>() \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"variable\">start_time\u003C\u002Fspan>\n\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">elapsed\u003C\u002Fspan> \u003Cspan class=\"operator\">>=\u003C\u002Fspan> \u003Cspan class=\"variable\">total_ms\u003C\u002Fspan>) {\n        \u003Cspan class=\"function\">set_position\u003C\u002Fspan>(\u003Cspan class=\"variable\">target\u003C\u002Fspan>)\n        \u003Cspan class=\"function\">stop_motors\u003C\u002Fspan>()\n        \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"at_target\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">true\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n\n    \u003Cspan class=\"variable\">steps_float\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">elapsed\u003C\u002Fspan> \u003Cspan class=\"operator\">\u002F\u003C\u002Fspan> \u003Cspan class=\"variable\">pulse_ms\u003C\u002Fspan>\n    \u003Cspan class=\"variable\">steps_int\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"stdlib\">math::round\u003C\u002Fspan>(\u003Cspan class=\"variable\">steps_float\u003C\u002Fspan>)\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">steps_int\u003C\u002Fspan> \u003Cspan class=\"operator\">*\u003C\u002Fspan> \u003Cspan class=\"variable\">pulse_ms\u003C\u002Fspan> \u003Cspan class=\"operator\">>\u003C\u002Fspan> \u003Cspan class=\"variable\">elapsed\u003C\u002Fspan>) {\n        \u003Cspan class=\"variable\">steps_int\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">steps_int\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>\n    }\n\n    \u003Cspan class=\"variable\">position\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">start_pos\u003C\u002Fspan>\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">is_forward\u003C\u002Fspan>) {\n        \u003Cspan class=\"variable\">position\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">start_pos\u003C\u002Fspan> \u003Cspan class=\"operator\">+\u003C\u002Fspan> \u003Cspan class=\"variable\">steps_int\u003C\u002Fspan>\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">position\u003C\u002Fspan> \u003Cspan class=\"operator\">>\u003C\u002Fspan> \u003Cspan class=\"variable\">target\u003C\u002Fspan>) {\n            \u003Cspan class=\"variable\">position\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">target\u003C\u002Fspan>\n        }\n    } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n        \u003Cspan class=\"variable\">position\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">start_pos\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"variable\">steps_int\u003C\u002Fspan>\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">position\u003C\u002Fspan> \u003Cspan class=\"operator\"><\u003C\u002Fspan> \u003Cspan class=\"variable\">target\u003C\u002Fspan>) {\n            \u003Cspan class=\"variable\">position\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">target\u003C\u002Fspan>\n        }\n    }\n\n    \u003Cspan class=\"function\">set_position\u003C\u002Fspan>(\u003Cspan class=\"variable\">position\u003C\u002Fspan>)\n\n    \u003Cspan class=\"variable\">remaining_ms\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">total_ms\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"variable\">elapsed\u003C\u002Fspan>\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">remaining_ms\u003C\u002Fspan> \u003Cspan class=\"operator\"><=\u003C\u002Fspan> \u003Cspan class=\"number\">100\u003C\u002Fspan>) {\n        \u003Cspan class=\"stdlib\">callback::set\u003C\u002Fspan>(\u003Cspan class=\"stdlib\">math::round\u003C\u002Fspan>(\u003Cspan class=\"variable\">remaining_ms\u003C\u002Fspan>), \u003Cspan class=\"string\">\"onStep\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n    } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n        \u003Cspan class=\"stdlib\">callback::set\u003C\u002Fspan>(\u003Cspan class=\"number\">100\u003C\u002Fspan>, \u003Cspan class=\"string\">\"onStep\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n    }\n}\n\n\u003Cspan class=\"keyword\">extern\u003C\u002Fspan> \u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">onFreqFinish\u003C\u002Fspan>(\u003Cspan class=\"variable\">v\u003C\u002Fspan>) {\n    \u003Cspan class=\"variable\">target\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"move_target\"\u003C\u002Fspan>)\n    \u003Cspan class=\"function\">set_position\u003C\u002Fspan>(\u003Cspan class=\"variable\">target\u003C\u002Fspan>)\n    \u003Cspan class=\"function\">stop_motors\u003C\u002Fspan>()\n    \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"at_target\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">true\u003C\u002Fspan>)\n}\n\n\u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">init_freq_state\u003C\u002Fspan>() {\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"last_freq_time\"\u003C\u002Fspan>, \u003Cspan class=\"stdlib\">time::uptime\u003C\u002Fspan>())\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"avg_pulse_time_ms\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"freq_sample_count\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"freq_finishing\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">false\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"fractional_pulses\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n}\n\n\u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">evaluate_target_now\u003C\u002Fspan>(\u003Cspan class=\"variable\">target\u003C\u002Fspan>, \u003Cspan class=\"variable\">position\u003C\u002Fspan>) {\n    \u003Cspan class=\"variable\">tolerance\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position_tolerance\"\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">diff\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">target\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"variable\">position\u003C\u002Fspan>\n\n    \u003Cspan class=\"variable\">control_mode\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"control_mode\"\u003C\u002Fspan>)\n\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">diff\u003C\u002Fspan> \u003Cspan class=\"operator\">>\u003C\u002Fspan> \u003Cspan class=\"variable\">tolerance\u003C\u002Fspan>) {\n        \u003Cspan class=\"function\">start_forward\u003C\u002Fspan>()\n        \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"at_target\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">false\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">control_mode\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>) {\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"move_start_time\"\u003C\u002Fspan>, \u003Cspan class=\"stdlib\">time::uptime\u003C\u002Fspan>())\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"move_start_position\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">position\u003C\u002Fspan>)\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"move_target\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">target\u003C\u002Fspan>)\n            \u003Cspan class=\"variable\">steps\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"stdlib\">math::round\u003C\u002Fspan>(\u003Cspan class=\"variable\">diff\u003C\u002Fspan>)\n            \u003Cspan class=\"variable\">pulse_ms\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"stdlib\">math::round\u003C\u002Fspan>(\u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_time_forward\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">*\u003C\u002Fspan> \u003Cspan class=\"number\">1000\u003C\u002Fspan>)\n            \u003Cspan class=\"function\">set_rpm\u003C\u002Fspan>(\u003Cspan class=\"number\">1000.0\u003C\u002Fspan> \u003Cspan class=\"operator\">\u002F\u003C\u002Fspan> \u003Cspan class=\"variable\">pulse_ms\u003C\u002Fspan>)\n            \u003Cspan class=\"variable\">total_ms\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">steps\u003C\u002Fspan> \u003Cspan class=\"operator\">*\u003C\u002Fspan> \u003Cspan class=\"variable\">pulse_ms\u003C\u002Fspan>\n            \u003Cspan class=\"variable\">first_cb\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"number\">100\u003C\u002Fspan>\n            \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">total_ms\u003C\u002Fspan> \u003Cspan class=\"operator\"><\u003C\u002Fspan> \u003Cspan class=\"variable\">first_cb\u003C\u002Fspan>) {\n                \u003Cspan class=\"variable\">first_cb\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">total_ms\u003C\u002Fspan>\n            }\n            \u003Cspan class=\"stdlib\">callback::set\u003C\u002Fspan>(\u003Cspan class=\"variable\">first_cb\u003C\u002Fspan>, \u003Cspan class=\"string\">\"onStep\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n        }\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">control_mode\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">2\u003C\u002Fspan>) {\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"move_target\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">target\u003C\u002Fspan>)\n            \u003Cspan class=\"function\">init_freq_state\u003C\u002Fspan>()\n            \u003Cspan class=\"variable\">pulse_ms\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"stdlib\">math::round\u003C\u002Fspan>(\u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_time_forward\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">*\u003C\u002Fspan> \u003Cspan class=\"number\">1000\u003C\u002Fspan>)\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"avg_pulse_time_ms\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">pulse_ms\u003C\u002Fspan> \u003Cspan class=\"operator\">*\u003C\u002Fspan> \u003Cspan class=\"number\">1.0\u003C\u002Fspan>)\n            \u003Cspan class=\"variable\">total_ms\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"stdlib\">math::round\u003C\u002Fspan>(\u003Cspan class=\"variable\">diff\u003C\u002Fspan>) \u003Cspan class=\"operator\">*\u003C\u002Fspan> \u003Cspan class=\"variable\">pulse_ms\u003C\u002Fspan>\n            \u003Cspan class=\"stdlib\">callback::set\u003C\u002Fspan>(\u003Cspan class=\"stdlib\">math::round\u003C\u002Fspan>(\u003Cspan class=\"variable\">total_ms\u003C\u002Fspan>), \u003Cspan class=\"string\">\"onFreqFinish\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n        }\n    } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">diff\u003C\u002Fspan> \u003Cspan class=\"operator\"><\u003C\u002Fspan> (\u003Cspan class=\"number\">0\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"variable\">tolerance\u003C\u002Fspan>)) {\n        \u003Cspan class=\"function\">start_reverse\u003C\u002Fspan>()\n        \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"at_target\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">false\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">control_mode\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>) {\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"move_start_time\"\u003C\u002Fspan>, \u003Cspan class=\"stdlib\">time::uptime\u003C\u002Fspan>())\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"move_start_position\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">position\u003C\u002Fspan>)\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"move_target\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">target\u003C\u002Fspan>)\n            \u003Cspan class=\"variable\">steps\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"stdlib\">math::round\u003C\u002Fspan>(\u003Cspan class=\"number\">0\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"variable\">diff\u003C\u002Fspan>)\n            \u003Cspan class=\"variable\">pulse_ms\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"stdlib\">math::round\u003C\u002Fspan>(\u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_time_reverse\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">*\u003C\u002Fspan> \u003Cspan class=\"number\">1000\u003C\u002Fspan>)\n            \u003Cspan class=\"function\">set_rpm\u003C\u002Fspan>(\u003Cspan class=\"number\">1000.0\u003C\u002Fspan> \u003Cspan class=\"operator\">\u002F\u003C\u002Fspan> \u003Cspan class=\"variable\">pulse_ms\u003C\u002Fspan>)\n            \u003Cspan class=\"variable\">total_ms\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">steps\u003C\u002Fspan> \u003Cspan class=\"operator\">*\u003C\u002Fspan> \u003Cspan class=\"variable\">pulse_ms\u003C\u002Fspan>\n            \u003Cspan class=\"variable\">first_cb\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"number\">100\u003C\u002Fspan>\n            \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">total_ms\u003C\u002Fspan> \u003Cspan class=\"operator\"><\u003C\u002Fspan> \u003Cspan class=\"variable\">first_cb\u003C\u002Fspan>) {\n                \u003Cspan class=\"variable\">first_cb\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">total_ms\u003C\u002Fspan>\n            }\n            \u003Cspan class=\"stdlib\">callback::set\u003C\u002Fspan>(\u003Cspan class=\"variable\">first_cb\u003C\u002Fspan>, \u003Cspan class=\"string\">\"onStep\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n        }\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">control_mode\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">2\u003C\u002Fspan>) {\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"move_target\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">target\u003C\u002Fspan>)\n            \u003Cspan class=\"function\">init_freq_state\u003C\u002Fspan>()\n            \u003Cspan class=\"variable\">pulse_ms\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"stdlib\">math::round\u003C\u002Fspan>(\u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_time_reverse\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">*\u003C\u002Fspan> \u003Cspan class=\"number\">1000\u003C\u002Fspan>)\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"avg_pulse_time_ms\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">pulse_ms\u003C\u002Fspan> \u003Cspan class=\"operator\">*\u003C\u002Fspan> \u003Cspan class=\"number\">1.0\u003C\u002Fspan>)\n            \u003Cspan class=\"variable\">total_ms\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"stdlib\">math::round\u003C\u002Fspan>(\u003Cspan class=\"number\">0\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"variable\">diff\u003C\u002Fspan>) \u003Cspan class=\"operator\">*\u003C\u002Fspan> \u003Cspan class=\"variable\">pulse_ms\u003C\u002Fspan>\n            \u003Cspan class=\"stdlib\">callback::set\u003C\u002Fspan>(\u003Cspan class=\"stdlib\">math::round\u003C\u002Fspan>(\u003Cspan class=\"variable\">total_ms\u003C\u002Fspan>), \u003Cspan class=\"string\">\"onFreqFinish\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n        }\n    } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n        \u003Cspan class=\"function\">stop_motors\u003C\u002Fspan>()\n        \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"at_target\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">true\u003C\u002Fspan>)\n    }\n}\n\n\u003Cspan class=\"keyword\">extern\u003C\u002Fspan> \u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">onMotorLock\u003C\u002Fspan>(\u003Cspan class=\"variable\">v\u003C\u002Fspan>) {\n    \u003Cspan class=\"function\">evaluate_target_now\u003C\u002Fspan>(\u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"lock_target\"\u003C\u002Fspan>), \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"lock_position\"\u003C\u002Fspan>))\n}\n\n\u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">evaluate_target\u003C\u002Fspan>(\u003Cspan class=\"variable\">target\u003C\u002Fspan>, \u003Cspan class=\"variable\">position\u003C\u002Fspan>) {\n    \u003Cspan class=\"stdlib\">callback::clear\u003C\u002Fspan>()\n    \u003Cspan class=\"variable\">lock_ms\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"stdlib\">math::round\u003C\u002Fspan>(\u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"motor_lock_duration\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">*\u003C\u002Fspan> \u003Cspan class=\"number\">1000\u003C\u002Fspan>)\n\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">lock_ms\u003C\u002Fspan> \u003Cspan class=\"operator\"><=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n        \u003Cspan class=\"function\">evaluate_target_now\u003C\u002Fspan>(\u003Cspan class=\"variable\">target\u003C\u002Fspan>, \u003Cspan class=\"variable\">position\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n\n    \u003Cspan class=\"variable\">tolerance\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position_tolerance\"\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">diff\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">target\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"variable\">position\u003C\u002Fspan>\n    \u003Cspan class=\"variable\">going_forward\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">diff\u003C\u002Fspan> \u003Cspan class=\"operator\">>\u003C\u002Fspan> \u003Cspan class=\"variable\">tolerance\u003C\u002Fspan>\n    \u003Cspan class=\"variable\">going_reverse\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">diff\u003C\u002Fspan> \u003Cspan class=\"operator\"><\u003C\u002Fspan> (\u003Cspan class=\"number\">0\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"variable\">tolerance\u003C\u002Fspan>)\n\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"operator\">!\u003C\u002Fspan>\u003Cspan class=\"variable\">going_forward\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"operator\">!\u003C\u002Fspan>\u003Cspan class=\"variable\">going_reverse\u003C\u002Fspan>) {\n        \u003Cspan class=\"function\">evaluate_target_now\u003C\u002Fspan>(\u003Cspan class=\"variable\">target\u003C\u002Fspan>, \u003Cspan class=\"variable\">position\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n\n    \u003Cspan class=\"variable\">direction_changed\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"boolean\">false\u003C\u002Fspan>\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">going_forward\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"operator\">!\u003C\u002Fspan>\u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"was_forward\"\u003C\u002Fspan>)) {\n        \u003Cspan class=\"variable\">direction_changed\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"boolean\">true\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">going_reverse\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"was_forward\"\u003C\u002Fspan>)) {\n        \u003Cspan class=\"variable\">direction_changed\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"boolean\">true\u003C\u002Fspan>\n    }\n\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"operator\">!\u003C\u002Fspan>\u003Cspan class=\"variable\">direction_changed\u003C\u002Fspan>) {\n        \u003Cspan class=\"function\">evaluate_target_now\u003C\u002Fspan>(\u003Cspan class=\"variable\">target\u003C\u002Fspan>, \u003Cspan class=\"variable\">position\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n\n    \u003Cspan class=\"variable\">elapsed_ms\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"stdlib\">time::uptime\u003C\u002Fspan>() \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"last_stop_time\"\u003C\u002Fspan>)\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">elapsed_ms\u003C\u002Fspan> \u003Cspan class=\"operator\">>=\u003C\u002Fspan> \u003Cspan class=\"variable\">lock_ms\u003C\u002Fspan>) {\n        \u003Cspan class=\"function\">evaluate_target_now\u003C\u002Fspan>(\u003Cspan class=\"variable\">target\u003C\u002Fspan>, \u003Cspan class=\"variable\">position\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n\n    \u003Cspan class=\"variable\">remaining_ms\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">lock_ms\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"variable\">elapsed_ms\u003C\u002Fspan>\n    \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"at_target\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">false\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"lock_target\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">target\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"lock_position\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">position\u003C\u002Fspan>)\n    \u003Cspan class=\"stdlib\">callback::set\u003C\u002Fspan>(\u003Cspan class=\"stdlib\">math::round\u003C\u002Fspan>(\u003Cspan class=\"variable\">remaining_ms\u003C\u002Fspan>), \u003Cspan class=\"string\">\"onMotorLock\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n}\n\n\u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">complete_homing\u003C\u002Fspan>() {\n    \u003Cspan class=\"function\">stop_motors\u003C\u002Fspan>()\n    \u003Cspan class=\"function\">set_position\u003C\u002Fspan>(\u003Cspan class=\"number\">0\u003C\u002Fspan>)\n    \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"homed\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">true\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"is_homing\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">false\u003C\u002Fspan>)\n\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"move_after_home\"\u003C\u002Fspan>)) {\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"move_after_home\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">false\u003C\u002Fspan>)\n        \u003Cspan class=\"variable\">pending_target\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pending_target\"\u003C\u002Fspan>)\n        \u003Cspan class=\"function\">evaluate_target\u003C\u002Fspan>(\u003Cspan class=\"variable\">pending_target\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n    } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n        \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"at_target\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">true\u003C\u002Fspan>)\n    }\n}\n\n\u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">start_homing_sequence\u003C\u002Fspan>() {\n    \u003Cspan class=\"stdlib\">callback::clear\u003C\u002Fspan>()\n    \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"homed\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">false\u003C\u002Fspan>)\n    \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"at_target\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">false\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"is_homing\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">true\u003C\u002Fspan>)\n\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"stdlib\">input::get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"home_switch\"\u003C\u002Fspan>)) {\n        \u003Cspan class=\"function\">complete_homing\u003C\u002Fspan>()\n    } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n        \u003Cspan class=\"variable\">home_direction\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"home_direction\"\u003C\u002Fspan>) \u003Cspan class=\"comment\">\u002F\u002F 0=Forward, 1=Reverse\u003C\u002Fspan>\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">home_direction\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n            \u003Cspan class=\"function\">start_forward\u003C\u002Fspan>()\n        } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n            \u003Cspan class=\"function\">start_reverse\u003C\u002Fspan>()\n        }\n    }\n}\n\n\u003Cspan class=\"comment\">\u002F\u002F Handle \"stop\" input first (dominant input)\u003C\u002Fspan>\n\u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">channel\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"string\">\"stop\"\u003C\u002Fspan>) {\n    \u003Cspan class=\"variable\">prev_stop\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"prev_stop\"\u003C\u002Fspan>)\n\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">value\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"operator\">!\u003C\u002Fspan>\u003Cspan class=\"variable\">prev_stop\u003C\u002Fspan>) {\n        \u003Cspan class=\"function\">stop_motors\u003C\u002Fspan>()\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"is_homing\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">false\u003C\u002Fspan>)\n    }\n\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"prev_stop\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">value\u003C\u002Fspan>)\n    \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n}\n\n\u003Cspan class=\"comment\">\u002F\u002F Check home_switch on every execution during homing (level-triggered)\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F This ensures homing completes even if the switch was already active\u003C\u002Fspan>\n\u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"is_homing\"\u003C\u002Fspan>) \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"stdlib\">input::get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"home_switch\"\u003C\u002Fspan>)) {\n    \u003Cspan class=\"function\">complete_homing\u003C\u002Fspan>()\n    \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n}\n\n\u003Cspan class=\"comment\">\u002F\u002F Handle \"home_switch\" input - stop motor when home switch activates outside homing\u003C\u002Fspan>\n\u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">channel\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"string\">\"home_switch\"\u003C\u002Fspan>) {\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">value\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"variable\">output\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"moving\"\u003C\u002Fspan>)) {\n        \u003Cspan class=\"function\">stop_motors\u003C\u002Fspan>()\n        \u003Cspan class=\"function\">set_position\u003C\u002Fspan>(\u003Cspan class=\"number\">0\u003C\u002Fspan>)\n        \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"homed\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">true\u003C\u002Fspan>)\n        \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"at_target\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">true\u003C\u002Fspan>)\n    }\n    \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n}\n\n\u003Cspan class=\"comment\">\u002F\u002F Handle \"home\" input\u003C\u002Fspan>\n\u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">channel\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"string\">\"home\"\u003C\u002Fspan>) {\n    \u003Cspan class=\"variable\">prev_home\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"prev_home\"\u003C\u002Fspan>)\n\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">value\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"operator\">!\u003C\u002Fspan>\u003Cspan class=\"variable\">prev_home\u003C\u002Fspan>) {\n        \u003Cspan class=\"function\">start_homing_sequence\u003C\u002Fspan>()\n    }\n\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"prev_home\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">value\u003C\u002Fspan>)\n    \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n}\n\n\u003Cspan class=\"comment\">\u002F\u002F Handle \"encoder\" input\u003C\u002Fspan>\n\u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">channel\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"string\">\"encoder\"\u003C\u002Fspan>) {\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"control_mode\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">!=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n\n    \u003Cspan class=\"variable\">prev_encoder\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"prev_encoder\"\u003C\u002Fspan>)\n\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">value\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"operator\">!\u003C\u002Fspan>\u003Cspan class=\"variable\">prev_encoder\u003C\u002Fspan>) {\n        \u003Cspan class=\"comment\">\u002F\u002F Rising edge on encoder - count if motor is driving and not homing\u003C\u002Fspan>\n        \u003Cspan class=\"variable\">is_homing\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"is_homing\"\u003C\u002Fspan>)\n        \u003Cspan class=\"variable\">is_forward\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">output\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"forward\"\u003C\u002Fspan>)\n        \u003Cspan class=\"variable\">is_reverse\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">output\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"reverse\"\u003C\u002Fspan>)\n\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"operator\">!\u003C\u002Fspan>\u003Cspan class=\"variable\">is_homing\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> (\u003Cspan class=\"variable\">is_forward\u003C\u002Fspan> \u003Cspan class=\"keyword\">or\u003C\u002Fspan> \u003Cspan class=\"variable\">is_reverse\u003C\u002Fspan>)) {\n            \u003Cspan class=\"variable\">position\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">output\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position\"\u003C\u002Fspan>)\n\n            \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">is_forward\u003C\u002Fspan>) {\n                \u003Cspan class=\"variable\">position\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">position\u003C\u002Fspan> \u003Cspan class=\"operator\">+\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>\n            } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n                \u003Cspan class=\"variable\">position\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">position\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>\n            }\n\n            \u003Cspan class=\"function\">set_position\u003C\u002Fspan>(\u003Cspan class=\"variable\">position\u003C\u002Fspan>)\n\n            \u003Cspan class=\"variable\">enc_now\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"stdlib\">time::uptime\u003C\u002Fspan>()\n            \u003Cspan class=\"variable\">last_enc\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"last_encoder_pulse_time\"\u003C\u002Fspan>)\n            \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">last_enc\u003C\u002Fspan> \u003Cspan class=\"operator\">>\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n                \u003Cspan class=\"variable\">enc_elapsed\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">enc_now\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"variable\">last_enc\u003C\u002Fspan>\n                \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">enc_elapsed\u003C\u002Fspan> \u003Cspan class=\"operator\">>\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n                    \u003Cspan class=\"function\">set_rpm\u003C\u002Fspan>(\u003Cspan class=\"number\">1000.0\u003C\u002Fspan> \u003Cspan class=\"operator\">\u002F\u003C\u002Fspan> \u003Cspan class=\"variable\">enc_elapsed\u003C\u002Fspan>)\n                }\n            }\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"last_encoder_pulse_time\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">enc_now\u003C\u002Fspan>)\n\n            \u003Cspan class=\"comment\">\u002F\u002F Check if at target\u003C\u002Fspan>\n            \u003Cspan class=\"variable\">target\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"stdlib\">input::get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"target\"\u003C\u002Fspan>)\n            \u003Cspan class=\"variable\">tolerance\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position_tolerance\"\u003C\u002Fspan>)\n            \u003Cspan class=\"variable\">diff\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">target\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"variable\">position\u003C\u002Fspan>\n\n            \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">diff\u003C\u002Fspan> \u003Cspan class=\"operator\">>=\u003C\u002Fspan> (\u003Cspan class=\"number\">0\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"variable\">tolerance\u003C\u002Fspan>) \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"variable\">diff\u003C\u002Fspan> \u003Cspan class=\"operator\"><=\u003C\u002Fspan> \u003Cspan class=\"variable\">tolerance\u003C\u002Fspan>) {\n                \u003Cspan class=\"function\">stop_motors\u003C\u002Fspan>()\n                \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"at_target\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">true\u003C\u002Fspan>)\n            }\n        }\n    }\n\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"prev_encoder\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">value\u003C\u002Fspan>)\n    \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n}\n\n\u003Cspan class=\"comment\">\u002F\u002F Handle \"freq\" input (Frequency control mode)\u003C\u002Fspan>\n\u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">channel\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"string\">\"freq\"\u003C\u002Fspan>) {\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"control_mode\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">!=\u003C\u002Fspan> \u003Cspan class=\"number\">2\u003C\u002Fspan>) {\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"is_homing\"\u003C\u002Fspan>)) {\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"freq_finishing\"\u003C\u002Fspan>)) {\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n\n    \u003Cspan class=\"variable\">is_forward\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">output\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"forward\"\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">is_reverse\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">output\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"reverse\"\u003C\u002Fspan>)\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"operator\">!\u003C\u002Fspan>\u003Cspan class=\"variable\">is_forward\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"operator\">!\u003C\u002Fspan>\u003Cspan class=\"variable\">is_reverse\u003C\u002Fspan>) {\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n\n    \u003Cspan class=\"stdlib\">callback::clear\u003C\u002Fspan>()\n\n    \u003Cspan class=\"variable\">now\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"stdlib\">time::uptime\u003C\u002Fspan>()\n    \u003Cspan class=\"variable\">last_time\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"last_freq_time\"\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">elapsed_ms\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">now\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"variable\">last_time\u003C\u002Fspan>\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"last_freq_time\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">now\u003C\u002Fspan>)\n\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">value\u003C\u002Fspan> \u003Cspan class=\"operator\"><=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan> \u003Cspan class=\"keyword\">or\u003C\u002Fspan> \u003Cspan class=\"variable\">elapsed_ms\u003C\u002Fspan> \u003Cspan class=\"operator\"><=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n\n    \u003Cspan class=\"variable\">pulse_count\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">value\u003C\u002Fspan> \u003Cspan class=\"operator\">*\u003C\u002Fspan> \u003Cspan class=\"variable\">elapsed_ms\u003C\u002Fspan> \u003Cspan class=\"operator\">\u002F\u003C\u002Fspan> \u003Cspan class=\"number\">1000.0\u003C\u002Fspan> \u003Cspan class=\"operator\">+\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"fractional_pulses\"\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">whole_steps\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"stdlib\">math::round\u003C\u002Fspan>(\u003Cspan class=\"variable\">pulse_count\u003C\u002Fspan>)\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">pulse_count\u003C\u002Fspan> \u003Cspan class=\"operator\"><\u003C\u002Fspan> \u003Cspan class=\"variable\">whole_steps\u003C\u002Fspan>) {\n        \u003Cspan class=\"variable\">whole_steps\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">whole_steps\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"number\">1.0\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"fractional_pulses\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">pulse_count\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"variable\">whole_steps\u003C\u002Fspan>)\n\n    \u003Cspan class=\"variable\">pulse_time\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"number\">1000.0\u003C\u002Fspan> \u003Cspan class=\"operator\">\u002F\u003C\u002Fspan> \u003Cspan class=\"variable\">value\u003C\u002Fspan>\n    \u003Cspan class=\"function\">set_rpm\u003C\u002Fspan>(\u003Cspan class=\"variable\">value\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">sample_count\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"freq_sample_count\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">+\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"freq_sample_count\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">sample_count\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">avg_pt\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"avg_pulse_time_ms\"\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">config_pt\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_time_forward\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">*\u003C\u002Fspan> \u003Cspan class=\"number\">1000.0\u003C\u002Fspan>\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">is_reverse\u003C\u002Fspan>) {\n        \u003Cspan class=\"variable\">config_pt\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_time_reverse\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">*\u003C\u002Fspan> \u003Cspan class=\"number\">1000.0\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">pulse_time\u003C\u002Fspan> \u003Cspan class=\"operator\">>\u003C\u002Fspan> \u003Cspan class=\"variable\">config_pt\u003C\u002Fspan> \u003Cspan class=\"operator\">\u002F\u003C\u002Fspan> \u003Cspan class=\"number\">2.0\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"variable\">pulse_time\u003C\u002Fspan> \u003Cspan class=\"operator\"><\u003C\u002Fspan> \u003Cspan class=\"variable\">config_pt\u003C\u002Fspan> \u003Cspan class=\"operator\">*\u003C\u002Fspan> \u003Cspan class=\"number\">2.0\u003C\u002Fspan>) {\n        \u003Cspan class=\"variable\">avg_pt\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">avg_pt\u003C\u002Fspan> \u003Cspan class=\"operator\">+\u003C\u002Fspan> (\u003Cspan class=\"variable\">pulse_time\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"variable\">avg_pt\u003C\u002Fspan>) \u003Cspan class=\"operator\">\u002F\u003C\u002Fspan> (\u003Cspan class=\"variable\">sample_count\u003C\u002Fspan> \u003Cspan class=\"operator\">*\u003C\u002Fspan> \u003Cspan class=\"number\">1.0\u003C\u002Fspan>)\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"avg_pulse_time_ms\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">avg_pt\u003C\u002Fspan>)\n    }\n\n    \u003Cspan class=\"variable\">position\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">output\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position\"\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">target\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"move_target\"\u003C\u002Fspan>)\n\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">is_forward\u003C\u002Fspan>) {\n        \u003Cspan class=\"variable\">position\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">position\u003C\u002Fspan> \u003Cspan class=\"operator\">+\u003C\u002Fspan> \u003Cspan class=\"variable\">whole_steps\u003C\u002Fspan>\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">position\u003C\u002Fspan> \u003Cspan class=\"operator\">>=\u003C\u002Fspan> \u003Cspan class=\"variable\">target\u003C\u002Fspan>) {\n            \u003Cspan class=\"variable\">position\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">target\u003C\u002Fspan>\n        }\n    } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n        \u003Cspan class=\"variable\">position\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">position\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"variable\">whole_steps\u003C\u002Fspan>\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">position\u003C\u002Fspan> \u003Cspan class=\"operator\"><=\u003C\u002Fspan> \u003Cspan class=\"variable\">target\u003C\u002Fspan>) {\n            \u003Cspan class=\"variable\">position\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">target\u003C\u002Fspan>\n        }\n    }\n    \u003Cspan class=\"function\">set_position\u003C\u002Fspan>(\u003Cspan class=\"variable\">position\u003C\u002Fspan>)\n\n    \u003Cspan class=\"variable\">remaining\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">target\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"variable\">position\u003C\u002Fspan>\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">remaining\u003C\u002Fspan> \u003Cspan class=\"operator\"><\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n        \u003Cspan class=\"variable\">remaining\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"variable\">remaining\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"variable\">tolerance\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position_tolerance\"\u003C\u002Fspan>)\n\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">remaining\u003C\u002Fspan> \u003Cspan class=\"operator\"><=\u003C\u002Fspan> \u003Cspan class=\"variable\">tolerance\u003C\u002Fspan>) {\n        \u003Cspan class=\"function\">stop_motors\u003C\u002Fspan>()\n        \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"at_target\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">true\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n\n    \u003Cspan class=\"variable\">remaining_time_ms\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">remaining\u003C\u002Fspan> \u003Cspan class=\"operator\">*\u003C\u002Fspan> \u003Cspan class=\"variable\">avg_pt\u003C\u002Fspan>\n    \u003Cspan class=\"stdlib\">callback::set\u003C\u002Fspan>(\u003Cspan class=\"stdlib\">math::round\u003C\u002Fspan>(\u003Cspan class=\"variable\">remaining_time_ms\u003C\u002Fspan>), \u003Cspan class=\"string\">\"onFreqFinish\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">remaining_time_ms\u003C\u002Fspan> \u003Cspan class=\"operator\"><\u003C\u002Fspan> \u003Cspan class=\"variable\">elapsed_ms\u003C\u002Fspan>) {\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"freq_finishing\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">true\u003C\u002Fspan>)\n    }\n\n    \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n}\n\n\u003Cspan class=\"comment\">\u002F\u002F Handle \"target\" input\u003C\u002Fspan>\n\u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">channel\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"string\">\"target\"\u003C\u002Fspan>) {\n    \u003Cspan class=\"variable\">is_homing\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"is_homing\"\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">home_before_move\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"stdlib\">input::get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"home_before_move\"\u003C\u002Fspan>)\n\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"control_mode\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">!=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"variable\">output\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"moving\"\u003C\u002Fspan>)) {\n        \u003Cspan class=\"function\">stop_motors\u003C\u002Fspan>()\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"is_homing\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">false\u003C\u002Fspan>)\n        \u003Cspan class=\"variable\">is_homing\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"boolean\">false\u003C\u002Fspan>\n    }\n\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">home_before_move\u003C\u002Fspan>) {\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">is_homing\u003C\u002Fspan>) {\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pending_target\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">value\u003C\u002Fspan>)\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"move_after_home\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">true\u003C\u002Fspan>)\n            \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n        }\n\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">output\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"moving\"\u003C\u002Fspan>)) {\n            \u003Cspan class=\"function\">stop_motors\u003C\u002Fspan>()\n        }\n\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"stdlib\">input::get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"home_switch\"\u003C\u002Fspan>)) {\n            \u003Cspan class=\"function\">set_position\u003C\u002Fspan>(\u003Cspan class=\"number\">0\u003C\u002Fspan>)\n            \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"homed\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">true\u003C\u002Fspan>)\n            \u003Cspan class=\"function\">evaluate_target\u003C\u002Fspan>(\u003Cspan class=\"variable\">value\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n        } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pending_target\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">value\u003C\u002Fspan>)\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"move_after_home\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">true\u003C\u002Fspan>)\n            \u003Cspan class=\"function\">start_homing_sequence\u003C\u002Fspan>()\n        }\n    } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n        \u003Cspan class=\"variable\">homed\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">output\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"homed\"\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">homed\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"operator\">!\u003C\u002Fspan>\u003Cspan class=\"variable\">is_homing\u003C\u002Fspan>) {\n            \u003Cspan class=\"variable\">position\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">output\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position\"\u003C\u002Fspan>)\n            \u003Cspan class=\"function\">evaluate_target\u003C\u002Fspan>(\u003Cspan class=\"variable\">value\u003C\u002Fspan>, \u003Cspan class=\"variable\">position\u003C\u002Fspan>)\n        }\n    }\n\n    \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n}\n\u003C\u002Fcode>\u003C\u002Fpre>\n\u003C\u002Fdiv>\n\u003C\u002Fdetails>\n",[909,911,913,916,919],{"level":81,"text":253,"id":910},"inputs",{"level":81,"text":544,"id":912},"outputs",{"level":81,"text":914,"id":915},"Konfiguracja","configuration",{"level":81,"text":917,"id":918},"Stan","state",{"level":81,"text":920,"id":921},"Kod źródłowy","source-code",{"block":923,"labels":987,"spec":1006},{"group":305,"id":465,"inputs":924,"ioType":954,"name":464,"outputs":955},[925,930,935,938,942,946,950],{"abbrev":926,"id":927,"name":928,"type":929},"TG","target","Cel","NUMBER",{"abbrev":931,"id":932,"name":933,"type":934},"E","encoder","Enkoder","BOOLEAN",{"abbrev":936,"id":70,"name":937,"type":934},"H","Bazowanie",{"abbrev":939,"id":940,"name":941,"type":934},"HS","home_switch","Czujnik bazowy",{"abbrev":943,"id":944,"name":945,"type":934},"S","stop","Stop",{"abbrev":947,"id":948,"name":949,"type":934},"HB","home_before_move","Bazowanie przed ruchem",{"abbrev":951,"id":952,"name":953,"type":929},"FQ","freq","Częstotliwość",null,[956,960,964,968,972,976,980,984],{"abbrev":957,"id":958,"name":959,"type":934},"F","forward","Do przodu",{"abbrev":961,"id":962,"name":963,"type":934},"R","reverse","Do tyłu",{"abbrev":965,"id":966,"name":967,"type":929},"P","position","Pozycja",{"abbrev":969,"id":970,"name":971,"type":934},"AT","at_target","Na celu",{"abbrev":973,"id":974,"name":975,"type":934},"HD","homed","Zbazowany",{"abbrev":977,"id":978,"name":979,"type":934},"M","moving","W ruchu",{"abbrev":981,"id":982,"name":983,"type":929},"PP","position_pct","Pozycja %",{"abbrev":985,"id":986,"name":985,"type":929},"RPM","rpm",{"config":988,"detail":996,"port":1001,"sections":1003,"state":1005},{"default":989,"description":990,"details":991,"id":992,"name":993,"type":994,"unit":995},"Domyślnie","Opis","Szczegóły","ID","Nazwa","Typ","Jednostka",{"required":997,"subtype":998,"values":999,"visible_when":1000},"Wymagane","Podtyp","Wartości","Widoczne gdy",{"abbrev":1002,"default":989,"description":990,"id":992,"name":993,"type":994},"Skrót",{"configuration":914,"inputs":253,"outputs":544,"source_code":920,"state":917,"view_source":1004},"Pokaż kod Volang",{"default":989,"description":990,"id":992,"name":993,"type":994,"unit":995},{"config":1007,"inputs":1079,"outputs":1095,"state":1112},[1008,1019,1028,1037,1049,1058,1065,1072],{"default":1009,"description":1010,"details":1011,"id":1015,"name":1016,"type":1017,"unit":1018},"0","Kierunek silnika podczas sekwencji bazowania.",{"enumValues":1012},[1013,1014],"Forward","Reverse","home_direction","Kierunek bazowania","ENUM","",{"default":1009,"description":1020,"details":1021,"id":1026,"name":1027,"type":929,"unit":1018},"Maksymalna dopuszczalna odległość od pozycji docelowej, aby uznać ją za osiągniętą. 0 oznacza dokładne dopasowanie.",{"rules":1022},[1023],{"kind":1024,"op":1025,"value":69},"compare","≥","position_tolerance","Tolerancja pozycji",{"default":1009,"description":1029,"details":1030,"id":1035,"name":1036,"type":1017,"unit":1018},"Enkoder: pozycja ze zliczania impulsów. Czasowy: wewnętrznie taktowane kroki. Częstotliwościowy: pozycja z wejść Hz, z estymacją czasową na końcu dojazdu.",{"enumValues":1031},[1032,1033,1034],"Encoder","Time-based","Frequency","control_mode","Tryb sterowania",{"default":1038,"description":1039,"details":1040,"id":1046,"name":1047,"type":929,"unit":1048},"0.1","Czas jednego kroku do przodu. Używane w trybie czasowym i częstotliwościowym. W trybie częstotliwościowym jako estymata początkowa.",{"rules":1041,"visibleWhen":1044},[1042],{"kind":1024,"op":1043,"value":69},">",{"configId":1035,"values":1045},[1033,1034],"pulse_time_forward","Czas impulsu do przodu","s",{"default":1038,"description":1050,"details":1051,"id":1056,"name":1057,"type":929,"unit":1048},"Czas jednego kroku do tyłu. Używane w trybie czasowym i częstotliwościowym. W trybie częstotliwościowym jako estymata początkowa.",{"rules":1052,"visibleWhen":1054},[1053],{"kind":1024,"op":1043,"value":69},{"configId":1035,"values":1055},[1033,1034],"pulse_time_reverse","Czas impulsu do tyłu",{"default":1009,"description":1059,"details":1060,"id":1063,"name":1064,"type":929,"unit":1048},"Czas pauzy między zmianami kierunku w celu ochrony silnika. Silnik zatrzymuje się na ten okres przed uruchomieniem w przeciwnym kierunku. Ustaw 0, aby wyłączyć.",{"rules":1061},[1062],{"kind":1024,"op":1025,"value":69},"motor_lock_duration","Czas blokady silnika",{"default":1009,"description":1066,"details":1067,"id":1070,"name":1071,"type":929,"unit":1018},"Liczba kroków odpowiadająca 100% zakresu ruchu osi. Wartość 0 wyłącza procentowe wyjście pozycji.",{"rules":1068},[1069],{"kind":1024,"op":1025,"value":69},"full_travel_steps","Pełny zakres kroków",{"default":1009,"description":1073,"details":1074,"id":1077,"name":1078,"type":929,"unit":1018},"Liczba impulsów enkodera\u002Fczęstotliwości na jeden pełny obrót wału. Wartość 0 wyłącza wyjście RPM.",{"rules":1075},[1076],{"kind":1024,"op":1025,"value":69},"steps_per_revolution","Impulsy na obrót",[1080,1082,1085,1087,1089,1091,1093],{"abbrev":926,"default":1009,"description":1081,"id":927,"name":928,"type":929},"Pozycja docelowa w impulsach enkodera. Ruch rozpoczyna się automatycznie po bazowaniu.",{"abbrev":931,"default":1083,"description":1084,"id":932,"name":933,"type":934},"false","Surowe wejście impulsów enkodera. Każde zbocze narastające liczy jeden krok w bieżącym kierunku silnika.",{"abbrev":936,"default":1083,"description":1086,"id":70,"name":937,"type":934},"Wejście impulsowe. Zbocze narastające rozpoczyna sekwencję bazowania, poruszając silnik w skonfigurowanym kierunku aż do aktywacji czujnika bazowego.",{"abbrev":939,"default":1083,"description":1088,"id":940,"name":941,"type":934},"Aktywny (true), gdy oś znajduje się w pozycji bazowej\u002Freferencyjnej. Używany podczas bazowania do wykrywania osiągnięcia punktu referencyjnego.",{"abbrev":943,"default":1083,"description":1090,"id":944,"name":945,"type":934},"Wejście impulsowe. Zbocze narastające zatrzymuje wszelki ruch i anuluje bazowanie. Wejście dominujące. Pozycja i status bazowania są zachowywane.",{"abbrev":947,"default":1083,"description":1092,"id":948,"name":949,"type":934},"Gdy aktywne, silnik automatycznie bazuje przed każdym ruchem do nowego celu. Jeśli czujnik bazowy jest już aktywny, ruch rozpoczyna się natychmiast od pozycji zero. W przeciwnym razie silnik najpierw bazuje, a następnie jedzie do celu.",{"abbrev":951,"default":1009,"description":1094,"id":952,"name":953,"type":929},"Częstotliwość impulsów w Hz. Używane w trybie częstotliwościowym. Pozycja obliczana z częstotliwości i czasu, z estymacją czasową na końcu.",[1096,1098,1100,1102,1104,1106,1108,1110],{"abbrev":957,"default":1083,"description":1097,"id":958,"name":959,"type":934},"Aktywne, gdy silnik powinien napędzać w kierunku dodatnim.",{"abbrev":961,"default":1083,"description":1099,"id":962,"name":963,"type":934},"Aktywne, gdy silnik powinien napędzać w kierunku ujemnym.",{"abbrev":965,"default":1009,"description":1101,"id":966,"name":967,"type":929},"Bieżąca pozycja w impulsach enkodera.",{"abbrev":969,"default":1083,"description":1103,"id":970,"name":971,"type":934},"Prawda, gdy bieżąca pozycja mieści się w skonfigurowanej tolerancji od pozycji docelowej.",{"abbrev":973,"default":1083,"description":1105,"id":974,"name":975,"type":934},"Prawda po pomyślnym zakończeniu sekwencji bazowania.",{"abbrev":977,"default":1083,"description":1107,"id":978,"name":979,"type":934},"Prawda, gdy silnik aktywnie napędza w dowolnym kierunku.",{"abbrev":981,"default":1009,"description":1109,"id":982,"name":983,"type":929},"Bieżąca pozycja jako procent (0-100) skonfigurowanej pełnej długości ruchu.",{"abbrev":985,"default":1009,"description":1111,"id":986,"name":985,"type":929},"Bieżąca prędkość obrotowa silnika w obrotach na minutę.",[1113,1117,1121,1125,1129,1133,1137,1141,1145,1149,1153,1157,1161,1165,1169,1174,1178,1182,1186],{"default":1083,"description":1114,"id":1115,"name":1116,"type":934,"unit":1018},"Przechowuje poprzedni stan wejścia enkodera w celu wykrywania zboczy narastających.","prev_encoder","Poprzedni stan enkodera",{"default":1083,"description":1118,"id":1119,"name":1120,"type":934,"unit":1018},"Przechowuje poprzedni stan wejścia bazowania w celu wykrywania zboczy narastających.","prev_home","Poprzedni stan bazowania",{"default":1083,"description":1122,"id":1123,"name":1124,"type":934,"unit":1018},"Przechowuje poprzedni stan wejścia stopu w celu wykrywania zboczy narastających.","prev_stop","Poprzedni stan stopu",{"default":1083,"description":1126,"id":1127,"name":1128,"type":934,"unit":1018},"Prawda, gdy sekwencja bazowania jest w trakcie realizacji.","is_homing","Bazowanie w toku",{"default":1009,"description":1130,"id":1131,"name":1132,"type":929,"unit":1018},"Przechowuje pozycję docelową, do której silnik ma się przemieścić po zakończeniu bazowania.","pending_target","Oczekujący cel",{"default":1083,"description":1134,"id":1135,"name":1136,"type":934,"unit":1018},"Prawda, gdy silnik powinien automatycznie ruszyć do oczekującego celu po zakończeniu bazowania.","move_after_home","Ruch po bazowaniu",{"default":1009,"description":1138,"id":1139,"name":1140,"type":929,"unit":1018},"Czas działania systemu, kiedy rozpoczął się bieżący ruch czasowy. Używane do obliczania czasu, który upłynął, w celu śledzenia pozycji.","move_start_time","Czas rozpoczęcia ruchu",{"default":1009,"description":1142,"id":1143,"name":1144,"type":929,"unit":1018},"Pozycja w momencie rozpoczęcia bieżącego ruchu czasowego. Używane z czasem, który upłynął, do obliczania bieżącej pozycji.","move_start_position","Pozycja początkowa ruchu",{"default":1009,"description":1146,"id":1147,"name":1148,"type":929,"unit":1018},"Pozycja docelowa dla bieżącego ruchu czasowego.","move_target","Cel ruchu",{"default":1083,"description":1150,"id":1151,"name":1152,"type":934,"unit":1018},"Prawda, jeśli ostatni ruch silnika był w kierunku do przodu. Używane do obliczania opóźnienia blokady silnika.","was_forward","Był do przodu",{"default":1009,"description":1154,"id":1155,"name":1156,"type":929,"unit":1018},"Czas działania systemu, kiedy silnik ostatnio się zatrzymał. Używane do obliczania opóźnienia blokady silnika.","last_stop_time","Czas ostatniego zatrzymania",{"default":1009,"description":1158,"id":1159,"name":1160,"type":929,"unit":1018},"Pozycja docelowa przechowywana podczas oczekiwania na zakończenie opóźnienia blokady silnika.","lock_target","Cel blokady",{"default":1009,"description":1162,"id":1163,"name":1164,"type":929,"unit":1018},"Bieżąca pozycja przechowywana podczas oczekiwania na zakończenie opóźnienia blokady silnika.","lock_position","Pozycja blokady",{"default":1009,"description":1166,"id":1167,"name":1168,"type":929,"unit":1018},"Czas działania systemu, kiedy otrzymano ostatnie wejście częstotliwości lub rozpoczęto ruch.","last_freq_time","Czas ostatniego wejścia częstotliwości",{"default":1170,"description":1171,"id":1172,"name":1173,"type":929,"unit":1018},"0.0","Bieżąca średnia czasu trwania impulsu w milisekundach, obliczona z wejść częstotliwości podczas ruchu.","avg_pulse_time_ms","Średni czas impulsu",{"default":1009,"description":1175,"id":1176,"name":1177,"type":929,"unit":1018},"Liczba próbek wejścia częstotliwości otrzymanych podczas bieżącego ruchu.","freq_sample_count","Liczba próbek częstotliwości",{"default":1083,"description":1179,"id":1180,"name":1181,"type":934,"unit":1018},"Prawda, gdy blok przełączył się na estymację czasową w końcowej fazie dojazdu w trybie częstotliwościowym.","freq_finishing","Kończenie częstotliwościowe",{"default":1009,"description":1183,"id":1184,"name":1185,"type":929,"unit":1018},"Skumulowana reszta ułamkowa z obliczeń częstotliwości na impulsy.","fractional_pulses","Ułamkowe impulsy",{"default":1009,"description":1187,"id":1188,"name":1189,"type":929,"unit":1018},"Czas systemowy ostatniego zbocza narastającego enkodera. Używane do obliczania RPM.","last_encoder_pulse_time","Czas ostatniego impulsu enkodera",1777471509271]