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); }
public void register_stepqueue(stepcompress stepqueue) { this._stepqueues.Add(stepqueue); }