Skip to content

Convert all double literals to float literals. #43

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
JohnMcAninley wants to merge 1 commit into
base: master
Choose a base branch
from
Open

Convert all double literals to float literals. #43

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
64 changes: 32 additions & 32 deletions src/AccelStepper.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -91,21 +91,21 @@ void AccelStepper::setCurrentPosition(long position)
_targetPos = _currentPos = position;
_n = 0;
_stepInterval = 0;
_speed = 0.0;
_speed = 0.0f;
}

// Subclasses can override
unsigned long AccelStepper::computeNewSpeed()
{
long distanceTo = distanceToGo(); // +ve is clockwise from curent location

long stepsToStop = (long)((_speed * _speed) / (2.0 * _acceleration)); // Equation 16
long stepsToStop = (long)((_speed * _speed) / (2.0f * _acceleration)); // Equation 16

if (distanceTo == 0 && stepsToStop <= 1)
{
// We are at the target and its time to stop
_stepInterval = 0;
_speed = 0.0;
_speed = 0.0f;
_n = 0;
return _stepInterval;
}
Expand Down Expand Up @@ -155,12 +155,12 @@ unsigned long AccelStepper::computeNewSpeed()
else
{
// Subsequent step. Works for accel (n is +_ve) and decel (n is -ve).
_cn = _cn - ((2.0 * _cn) / ((4.0 * _n) + 1)); // Equation 13
_cn = _cn - ((2.0f * _cn) / ((4.0f * _n) + 1)); // Equation 13
_cn = max(_cn, _cmin);
}
_n++;
_stepInterval = _cn;
_speed = 1000000.0 / _cn;
_speed = 1000000.0f / _cn;
if (_direction == DIRECTION_CCW)
_speed = -_speed;

Expand All @@ -186,18 +186,18 @@ boolean AccelStepper::run()
{
if (runSpeed())
computeNewSpeed();
return _speed != 0.0 || distanceToGo() != 0;
return _speed != 0.0f || distanceToGo() != 0;
}

AccelStepper::AccelStepper(uint8_t interface, uint8_t pin1, uint8_t pin2, uint8_t pin3, uint8_t pin4, bool enable)
{
_interface = interface;
_currentPos = 0;
_targetPos = 0;
_speed = 0.0;
_maxSpeed = 0.0;
_acceleration = 0.0;
_sqrt_twoa = 1.0;
_speed = 0.0f;
_maxSpeed = 0.0f;
_acceleration = 0.0f;
_sqrt_twoa = 1.0f;
_stepInterval = 0;
_minPulseWidth = 1;
_enablePin = 0xff;
Expand All @@ -210,9 +210,9 @@ AccelStepper::AccelStepper(uint8_t interface, uint8_t pin1, uint8_t pin2, uint8_

// NEW
_n = 0;
_c0 = 0.0;
_cn = 0.0;
_cmin = 1.0;
_c0 = 0.0f;
_cn = 0.0f;
_cmin = 1.0f;
_direction = DIRECTION_CCW;

int i;
Expand All @@ -230,10 +230,10 @@ AccelStepper::AccelStepper(void (*forward)(), void (*backward)())
_interface = 0;
_currentPos = 0;
_targetPos = 0;
_speed = 0.0;
_maxSpeed = 0.0;
_acceleration = 0.0;
_sqrt_twoa = 1.0;
_speed = 0.0f;
_maxSpeed = 0.0f;
_acceleration = 0.0f;
_sqrt_twoa = 1.0f;
_stepInterval = 0;
_minPulseWidth = 1;
_enablePin = 0xff;
Expand All @@ -247,9 +247,9 @@ AccelStepper::AccelStepper(void (*forward)(), void (*backward)())

// NEW
_n = 0;
_c0 = 0.0;
_cn = 0.0;
_cmin = 1.0;
_c0 = 0.0f;
_cn = 0.0f;
_cmin = 1.0f;
_direction = DIRECTION_CCW;

int i;
Expand All @@ -262,16 +262,16 @@ AccelStepper::AccelStepper(void (*forward)(), void (*backward)())

void AccelStepper::setMaxSpeed(float speed)
{
if (speed < 0.0)
if (speed < 0.0f)
speed = -speed;
if (_maxSpeed != speed)
{
_maxSpeed = speed;
_cmin = 1000000.0 / speed;
_cmin = 1000000.0f / speed;
// Recompute _n from current speed and adjust speed if accelerating or cruising
if (_n > 0)
{
_n = (long)((_speed * _speed) / (2.0 * _acceleration)); // Equation 16
_n = (long)((_speed * _speed) / (2.0f * _acceleration)); // Equation 16
computeNewSpeed();
}
}
Expand All @@ -284,16 +284,16 @@ float AccelStepper::maxSpeed()

void AccelStepper::setAcceleration(float acceleration)
{
if (acceleration == 0.0)
if (acceleration == 0.0f)
return;
if (acceleration < 0.0)
if (acceleration < 0.0f)
acceleration = -acceleration;
if (_acceleration != acceleration)
{
// Recompute _n per Equation 17
_n = _n * (_acceleration / acceleration);
// New c0 per Equation 7, with correction per Equation 15
_c0 = 0.676 * sqrt(2.0 / acceleration) * 1000000.0; // Equation 15
_c0 = 0.676f * sqrt(2.0f / acceleration) * 1000000.0f; // Equation 15
_acceleration = acceleration;
computeNewSpeed();
}
Expand All @@ -309,12 +309,12 @@ void AccelStepper::setSpeed(float speed)
if (speed == _speed)
return;
speed = constrain(speed, -_maxSpeed, _maxSpeed);
if (speed == 0.0)
if (speed == 0.0f)
_stepInterval = 0;
else
{
_stepInterval = fabs(1000000.0 / speed);
_direction = (speed > 0.0) ? DIRECTION_CW : DIRECTION_CCW;
_stepInterval = fabs(1000000.0f / speed);
_direction = (speed > 0.0f) ? DIRECTION_CW : DIRECTION_CCW;
}
_speed = speed;
}
Expand Down Expand Up @@ -663,9 +663,9 @@ void AccelStepper::runToNewPosition(long position)

void AccelStepper::stop()
{
if (_speed != 0.0)
if (_speed != 0.0f)
{
long stepsToStop = (long)((_speed * _speed) / (2.0 * _acceleration)) + 1; // Equation 16 (+integer rounding)
long stepsToStop = (long)((_speed * _speed) / (2.0f * _acceleration)) + 1; // Equation 16 (+integer rounding)
if (_speed > 0)
move(stepsToStop);
else
Expand All @@ -675,5 +675,5 @@ void AccelStepper::stop()

bool AccelStepper::isRunning()
{
return !(_speed == 0.0 && _targetPos == _currentPos);
return !(_speed == 0.0f && _targetPos == _currentPos);
}