Merge pull request #6 from suly520/beautify/main_win_0

Beautify/main win 0

.gitignore

@@ -163,3 +163,7 @@ cython_debug/
 #  and can be added to the global gitignore or merged into this file.  For a more nuclear
 #  option (not recommended) you can uncomment the following to ignore the entire idea folder.
 #.idea/
+Tools/X.txt
+Tools/Y.txt
+Tools/Z.txt
+test.py

Tools/Dynamikcy.pyx

@@ -2,6 +2,8 @@ from math import tan, atan
 
 
 cpdef tuple vNeu(WegX, WegY, WegZ, vmax):
+        #TODO:FIX add real velocity capabilities
+        #TODO:BEAUTY clean code
         vX = 0
         vY = 0
         vZ = 0
@@ -88,8 +90,7 @@ cpdef tuple vNeu(WegX, WegY, WegZ, vmax):
         return round(vX,6), round(vY,6), round(vZ,6), MotorX, MotorY, MotorZ
 
 cpdef double motor(double ist, double v, int soll, int ziel, bint ZyklStop, int Dir):
-
-
+        #TODO:BEAUTY clean code
         if not ZyklStop:
             if Dir == 0 and not ZyklStop:
                 ist = ist + v

Tools/Steuerungsklasse.pyx

@@ -15,9 +15,6 @@ from threading import RLock
 lck = threading.Lock()
 
 
-
-
-
 class PosError(Exception):
     """Wird aufgerufen wenn ein Positionierungsfehler vorliegt"""
     pass
@@ -27,7 +24,9 @@ class StopProcess(Exception):
     pass
 
 class MotorSteuerung:
-
+    """"""
+    #TODO:FEATURE add limitswitch capabilities
+    #TODO:BEAUTY clean code
     def __init__(self, list pinList = [17, 5, 16, 27, 6, 20, 22, 13, 21]):
         cdef list achsList = [0, 1, 2] # die Zahlen sollen die Achse repräsentieren 0 = X / 1 = Y / 2 = Z 
         self.pinList = pinList   
@@ -96,6 +95,7 @@ class MotorSteuerung:
 
     @staticmethod
     def Checkpos(int achse, int direction, int pulse, int endMax, int endMin):
+        #TODO:FIX rework endpose handling
         cdef int achsPos = MotorSteuerung.GetPosition(achse)
 
         try:
@@ -149,7 +149,7 @@ class MotorSteuerung:
         cdef double j
         cdef int slowdownCounter = 0
 
-
+        #TODO:FEATURE implement parameterizable acceleration control
         try:
             const = 0.0008 #getestet durch geogebra nur bei 0.0007
             if vmax < 0.0007: