update c mac steppers to take args and remove windows.h

res/lab_2/LeibRampStepperMac.c

@@ -1,7 +1,6 @@
 // Leib Ramp Stepper program with millis function adapted for MacOS
 #include <stdio.h>
 #include <stdlib.h>
-#include <windows.h>
 #include <math.h>
 #include <time.h>
 
@@ -52,57 +51,52 @@ const float minSpeed = 1.0;
 const float maxPermissSpeed = 20.0;
 const float maxAccel = 10.0;
 
-int main()
+int main(int argc, char *argv[1])
 {
     unsigned long currentMillis = millis();
     prevStepTime = 0;
     long positionToMoveTo;
-    while(true)
+    sscanf(argv[1], "%ld", &positionToMoveTo);
+    printf("        Time (s),  Speed (steps/s), Accel (steps/s^2),  Posit'n (steps), Step time (ticks)\n");
+
+    goToPosition(positionToMoveTo);
+
+    /* -------------------------------------------------------------- */
+    /* Start of pre-computation code - only executed once per profile */
+    // STEP 1																 
+    // Define number of steps in acceleration phase using Equation (3)
+    accelSteps = (long)(( maxPermissSpeed * maxPermissSpeed - minSpeed * minSpeed) / ( 2.0 * (float)maxAccel)); // Equation 4 but need to consider initial speed
+    stepsToGo = computeStepsToGo();
+    maxSpeed = maxPermissSpeed;
+    if (2 * accelSteps > stepsToGo)
     {
-        printf("Enter position to move to in profile (or 999 to terminate)\n");
+        // STEP 2 
-        scanf("%ld", &positionToMoveTo);
+    		      // Define maximum speed in profile and number of steps in acceleration phase 
-        if (positionToMoveTo==999) break;
+        // Use Equations (4) and (5)
-        printf("        Time (s),  Speed (steps/s), Accel (steps/s^2),  Posit'n (steps), Step time (ticks)\n");
+        maxSpeed = sqrt(minSpeed * minSpeed + stepsToGo * maxAccel); // Modified version of eq. 5
+        accelSteps = (long)(stepsToGo / 2);
+    }
 
-        goToPosition(positionToMoveTo);
+    // STEPS 3 and 5														  
+    // Calculate initial value of and p1 and R    Set p = p1
+    p1 = (float)ticksPerSec / sqrt( minSpeed * minSpeed + 2 * maxAccel); // Eq 17 incorporating initial velocity
+    p = p1;
+    R = (float) maxAccel / ((float)ticksPerSec * (float)ticksPerSec); // Eq 19
+    ps = ((float)ticksPerSec) / maxSpeed; // STEP 4 Eq 7 in paper
 
-        /* -------------------------------------------------------------- */
+    /* End of pre-computation code                                    */
-        /* Start of pre-computation code - only executed once per profile */
+    /* -------------------------------------------------------------- */
-        // STEP 1																 
+    millisAtStart = millis(); /* Needed only to tabulate speed vs. time */
-        // Define number of steps in acceleration phase using Equation (3)
+
-        accelSteps = (long)(( maxPermissSpeed * maxPermissSpeed - minSpeed * minSpeed) / ( 2.0 * (float)maxAccel)); // Equation 4 but need to consider initial speed
+    /* Timed loop for stepping, and associated coding */
-        stepsToGo = computeStepsToGo();
+    while(stepsToGo > 0)
-        maxSpeed = maxPermissSpeed;
+    {
-        if (2 * accelSteps > stepsToGo)
+        currentMillis = millis();
+        if (currentMillis - prevStepTime >= p)
         {
-            // STEP 2 
+           moveOneStep();
-			      // Define maximum speed in profile and number of steps in acceleration phase 
+           prevStepTime = currentMillis;
-            // Use Equations (4) and (5)
+           computeNewSpeed();
-            maxSpeed = sqrt(minSpeed * minSpeed + stepsToGo * maxAccel); // Modified version of eq. 5
-            accelSteps = (long)(stepsToGo / 2);
-        }
-
-        // STEPS 3 and 5														  
-        // Calculate initial value of and p1 and R    Set p = p1
-        p1 = (float)ticksPerSec / sqrt( minSpeed * minSpeed + 2 * maxAccel); // Eq 17 incorporating initial velocity
-        p = p1;
-        R = (float) maxAccel / ((float)ticksPerSec * (float)ticksPerSec); // Eq 19
-        ps = ((float)ticksPerSec) / maxSpeed; // STEP 4 Eq 7 in paper
-
-        /* End of pre-computation code                                    */
-        /* -------------------------------------------------------------- */
-        millisAtStart = millis(); /* Needed only to tabulate speed vs. time */
-
-        /* Timed loop for stepping, and associated coding */
-        while(stepsToGo > 0)
-        {
-            currentMillis = millis();
-            if (currentMillis - prevStepTime >= p)
-            {
-               moveOneStep();
-               prevStepTime = currentMillis;
-               computeNewSpeed();
-            }
         }
     }
     return 0;

res/lab_2/SimplisticRampStepperMac.c

@@ -2,7 +2,6 @@
 
 #include <stdio.h>
 #include <stdlib.h>
-#include <windows.h>
 #include <math.h>
 #include <time.h>
 
@@ -48,50 +47,45 @@ const float minSpeed = 1.0;  // in steps/s
 const float maxPermissSpeed = 20.0;   // in steps/s
 const float maxAccel = 10.0;     // in steps/s^2
 
-int main()
+int main(int argc, char *argv[])
 {
     unsigned long currentMillis = millis();
     prevStepTime = 0;
     long positionToMoveTo;
-    while(true)
+    sscanf(argv[1], "%ld", &positionToMoveTo);
+    printf("        Time (s),  Speed (steps/s), Accel (steps/s^2),  Posit'n (steps), Step time (ticks)\n");
+
+    goToPosition(positionToMoveTo);
+
+    /* -------------------------------------------------------------- */
+    /* Start of pre-computation code - only executed once per profile */
+    
+    float maxInterval = ((float)ticksPerSec) / minSpeed;
+    ps = ((float)ticksPerSec) / maxPermissSpeed;
+    deltaP = (maxInterval - ps) / accelSteps;
+    stepsToGo = computeStepsToGo();
+    maxSpeed = maxPermissSpeed;
+    if (2 * accelSteps > stepsToGo)
     {
-        printf("Enter position to move to in profile (or 999 to terminate)\n");
+        accelSteps = (long)(stepsToGo / 2);
-        scanf("%ld", &positionToMoveTo);
+    }
-        if (positionToMoveTo==999) break;
-        printf("        Time (s),  Speed (steps/s), Accel (steps/s^2),  Posit'n (steps), Step time (ticks)\n");
 
-        goToPosition(positionToMoveTo);
+    p = maxInterval;
+    
+    ps = ((float)ticksPerSec) / maxSpeed;
+    /* End of pre-computation code                                    */
+    /* -------------------------------------------------------------- */
+    millisAtStart = millis(); /* Needed only to tabulate speed vs. time */
 
-        /* -------------------------------------------------------------- */
+    /* Timed loop for stepping */
-        /* Start of pre-computation code - only executed once per profile */
+    while(stepsToGo > 0)
-        
+    {
-        float maxInterval = ((float)ticksPerSec) / minSpeed;
+        currentMillis = millis();
-        ps = ((float)ticksPerSec) / maxPermissSpeed;
+        if (currentMillis - prevStepTime >= p)
-        deltaP = (maxInterval - ps) / accelSteps;
-        stepsToGo = computeStepsToGo();
-        maxSpeed = maxPermissSpeed;
-        if (2 * accelSteps > stepsToGo)
         {
-            accelSteps = (long)(stepsToGo / 2);
+           moveOneStep();
-        }
+           prevStepTime = currentMillis;
-
+           computeNewSpeed();
-        p = maxInterval;
-        
-        ps = ((float)ticksPerSec) / maxSpeed;
-        /* End of pre-computation code                                    */
-        /* -------------------------------------------------------------- */
-        millisAtStart = millis(); /* Needed only to tabulate speed vs. time */
-
-        /* Timed loop for stepping */
-        while(stepsToGo > 0)
-        {
-            currentMillis = millis();
-            if (currentMillis - prevStepTime >= p)
-            {
-               moveOneStep();
-               prevStepTime = currentMillis;
-               computeNewSpeed();
-            }
         }
     }
     return 0;