Jog sport mode

Reprinted address :https://blog.csdn.net/sinat_31608641/article/details/102664888

Jog motion , Just press and hold the button , The motor keeps moving , The pop-up button motor stops

stay Jog In sport mode , Each axis can set the target speed independently 、 The acceleration 、 deceleration 、 Smooth coefficient and other motion parameters , can Enough to move or stop independently .

Axis 1 Sports in Jog In mode , The initial target speed is 100pulse/ms. Dynamically change the target speed , When the planned location exceeds
100000pulse when , Change the target speed to 50 pulse/ms

Set the smoothing coefficient to get a smooth speed curve , So as to make the acceleration and deceleration process more stable . The value range of smoothing coefficient is
[0, 1), The closer the 1, The more stable the acceleration changes .

The specific logic is consistent with the point motion .