public ItersolveBase set_stepper_kinematics(ItersolveBase sk)
{
var old_sk = this._stepper_kinematics;
this._stepper_kinematics = sk;
if (sk != null)
{
sk.itersolve_set_stepcompress(ref this._stepqueue, this._step_dist);
//this._ffi_lib.itersolve_set_stepcompress(sk, this._stepqueue, this._step_dist);
}
return(old_sk);
}
public Mcu_stepper(Mcu mcu, PinParams pin_parameters)
{
this._mcu = mcu;
this._oid = this._mcu.create_oid();
this._mcu.register_config_callback(this._build_config);
this._step_pin = pin_parameters.pin;
this._invert_step = pin_parameters.invert;
this._dir_pin = null;
this._mcu_position_offset = 0.0;
this._step_dist = 0.0;
this._min_stop_interval = 0.0;
this._reset_cmd_id = 0;
this._get_position_cmd = null;
//var _tup_1 = chelper.get_ffi();
//var ffi_main = _tup_1.Item1;
//this._ffi_lib = _tup_1.Item2;
//this._stepqueue = ffi_main.gc(this._ffi_lib.stepcompress_alloc(this._oid), this._ffi_lib.stepcompress_free);
this._stepqueue = new stepcompress((uint)this._oid);
this._mcu.register_stepqueue(this._stepqueue);
this._stepper_kinematics = null;
this.set_ignore_move(false);
}
