configurable position refresh rate

added a configurable timer to slow down position push message rate

Atm_AccelStepper.cpp

@@ -23,6 +23,7 @@ Atm_AccelStepper& Atm_AccelStepper::begin(int step_pin, int dir_pin) {
   stepper->setMaxSpeed(max_speed);
   stepper->setAcceleration(acceleration);
   idle_timer.set(ATM_TIMER_OFF);
+  position_timer.set(POSITION_SEND_TIMER);
   return *this;
 }
 
@@ -114,6 +115,8 @@ void Atm_AccelStepper::action( int id ) {
       return;
     case ENT_RUNNING:
       push(connectors, ON_CHANGESTATE, 0,  state(), 0);
+      push(connectors, ON_CHANGEPOSITION, 0,  _currentStep, stepper->speed());
+      position_timer.setFromNow(this, POSITION_SEND_TIMER);
       return;
     case LP_RUNNING:
       stepper_update();
@@ -218,10 +221,33 @@ void Atm_AccelStepper::stepper_update(void) {
   long int tempStep = stepper->currentPosition();
   if (tempStep != _currentStep){
     _currentStep =  tempStep;
-    push(connectors, ON_CHANGEPOSITION, 0,  _currentStep, stepper->speed());
+    if (position_timer.expired(this)){
+      push(connectors, ON_CHANGEPOSITION, 0,  _currentStep, stepper->speed());
+      position_timer.setFromNow(this, POSITION_SEND_TIMER);
+    };
   }
 }
 
+Atm_AccelStepper& Atm_AccelStepper::setMaxSpeed( long int maxSpeed){
+  max_speed = maxSpeed ;
+  return *this ;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::setHomingSpeed(long int homingSpeed){
+  homing_speed = homingSpeed ;
+  return *this ;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::setAcceleration(long int acc){
+  acceleration = acc ;
+  return *this ;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::position_refresh(long int refresh_ms){
+  POSITION_SEND_TIMER = refresh_ms ;
+  return *this ;
+}
+
 Atm_AccelStepper& Atm_AccelStepper::move( long int stepRel) {
   _targetStep   = _currentStep + stepRel;
   runMode = 0;

Atm_AccelStepper.h

@@ -45,12 +45,16 @@ class Atm_AccelStepper: public Machine {
   long int homing_speed = 500;
   long int max_speed = 5000;
   long int acceleration = 1000;
+  Atm_AccelStepper& setMaxSpeed( long int maxSpeed = 5000);
+  Atm_AccelStepper& setHomingSpeed( long int homingSpeed = 400);
+  Atm_AccelStepper& setAcceleration( long int acc = 1000);
 
   Atm_AccelStepper& move( long int stepRel );
   Atm_AccelStepper& moveTo( long int stepAbs );
   Atm_AccelStepper& rotate( long int speed );
   Atm_AccelStepper& homing( bool direction );
   int runMode = 0; // 0 uses run() for positioning, 1 uses runSpeed() for constant speed
+  Atm_AccelStepper& position_refresh( long int refresh_ms = 1000);
 
   Atm_AccelStepper& setEnablePin( int enablePin );
   Atm_AccelStepper& enableReversed( bool reverse );
@@ -67,6 +71,7 @@ class Atm_AccelStepper: public Machine {
   bool limitHigh_State;
 
 
+
  private:
   enum { ENT_DISABLED, ENT_ENABLED,ENT_RUNNING, LP_RUNNING, ENT_STOP, LP_STOP, ENT_HOMING_LOW, LP_HOMING_LOW, EXT_HOMING_LOW, ENT_HOMING_HIGH, LP_HOMING_HIGH, EXT_HOMING_HIGH, ENT_LIMIT_LOW, ENT_LIMIT_HIGH }; // ACTIONS
   enum { ON_CHANGEPOSITION, ON_CHANGESTATE, ON_ONLIMITHIGH, ON_ONLIMITLOW, ON_ONTARGET, ON_STOP, CONN_MAX }; // CONNECTORS
@@ -79,6 +84,8 @@ class Atm_AccelStepper: public Machine {
   long int _currentStep = 0;
   long int _targetStep = 0;
   long int _maxStep ;
+  atm_timer_millis position_timer ;
+  int POSITION_SEND_TIMER = 0 ;
 
   int _enablePin = -1;
   bool _enableReversed = 0 ;