Ptibibi/stroke engine speed api

Software/lib/StrokeEngine/src/StrokeEngine.cpp

@@ -49,11 +49,8 @@ void StrokeEngine::setSpeed(float speed, bool applyNow = false) {
     // Update pattern with new speed, will be used with the next stroke or on
     // update request
     if (xSemaphoreTake(_patternMutex, portMAX_DELAY) == pdTRUE) {
-        // Convert FPM into seconds to complete a full stroke
-        // Constrain stroke time between 10ms and 120 seconds
-        _timeOfStroke = constrain(60.0 / speed, 0.01, 120.0);
-
-        pattern->setTimeOfStroke(_timeOfStroke);
+        _speed = speed;
+        pattern->setTimeOfStroke(speed);
 
 #ifdef DEBUG_TALKATIVE
         Serial.println("setTimeOfStroke: " + String(_timeOfStroke, 2));
@@ -75,8 +72,7 @@ void StrokeEngine::setSpeed(float speed, bool applyNow = false) {
 }
 
 float StrokeEngine::getSpeed() {
-    // Convert speed into FPMs
-    return 60.0 / _timeOfStroke;
+    return _speed;
 }
 
 void StrokeEngine::setDepth(float depth, bool applyNow = false) {

Software/lib/StrokeEngine/src/StrokeEngine.h

@@ -117,20 +117,20 @@ class StrokeEngine {
 
     /**************************************************************************/
     /*!
-      @brief  Set the speed of a stroke. Speed is given in Strokes per Minute
+      @brief  Set the speed of a stroke. Speed is given in mm per Second
       and internally calculated to the time a full stroke needs to complete.
       Settings tale effect with next stroke, or after calling
       applyNewSettingsNow().
-      @param speed Strokes per Minute. Is constrained from 0.5 to 6000
+      @param speed mm per second. Is constrained from 0.0 to Config::Driver::maxSpeedMmPerSecond
       @param applyNow Set to true if changes should take effect immediately
     */
     /**************************************************************************/
     void setSpeed(float speed, bool applyNow);
 
     /**************************************************************************/
     /*!
-      @brief  Get the speed of a stroke. Speed is returned as Strokes per
-      Minute.
+      @brief  Get the speed of a stroke. Speed is returned as mm per
+      Second.
       @return Strokes per Minute.
     */
     /**************************************************************************/
@@ -402,6 +402,7 @@ class StrokeEngine {
     Pattern *pattern = new SimpleStroke("Simple Stroke");
     bool _isHomed = false;
     int _index = 0;
+    float _speed;
     int _depth;
     int _previousDepth;
     int _stroke;

Software/lib/StrokeEngine/src/pattern.h

@@ -65,7 +65,10 @@ class Pattern {
     /*!
       @param speed time of a full stroke in [sec]
     */
-    virtual void setTimeOfStroke(float speed) { _timeOfStroke = speed; }
+    virtual void setTimeOfStroke(float speed) {
+        // Speed to time
+        _timeOfStroke = speed / (min(abs(_stroke), abs(_depth)) * 2.0F);
+    }
 
     //! Set the maximum stroke a pattern may have
     /*!
@@ -170,7 +173,8 @@ class SimpleStroke : public Pattern {
 
     void setTimeOfStroke(float speed = 0) {
         // In & Out have same time, so we need to divide by 2
-        _timeOfStroke = 0.5 * speed;
+        // time of stroke
+        _timeOfStroke = 0.5 * (speed / (min(abs(_stroke), abs(_depth)) * 2.0F));
     }
 
     motionParameter nextTarget(unsigned int index) {

Software/src/ossm/OSSM.StrokeEngine.cpp

@@ -35,8 +35,7 @@ void OSSM::startStrokeEngineTask(void *pvParameters) {
             } else if (Stroker.getState() == READY) {
                 Stroker.startPattern();
             }
-
-            Stroker.setSpeed(ossm->setting.speed * 3, true);
+            Stroker.setSpeed(ossm->setting.speed, true);
             lastSetting.speed = ossm->setting.speed;
         }
 
@@ -114,4 +113,4 @@ void OSSM::startStrokeEngine() {
     xTaskCreatePinnedToCore(startStrokeEngineTask, "startStrokeEngineTask",
                             stackSize, this, configMAX_PRIORITIES - 1,
                             &runStrokeEngineTaskH, operationTaskCore);
-}
+}