I have been twiddling a little bit with interpolation between periodically received positions for steppers and finally nailed the decimal point.
It will probably not matter for accuracy. Then looking at a square generated for a stepper with a frequency for example in the range 2-3 times the receive frequency there will however be jitter because in some periods two steps are generated while in others three steps are generated. Then decimal point is used to place pulses within period there is no jitter. File in octave format is attached and it is the setPosition(...) function at the end which would be put in the receiving end. It bring peace to mind, now I should be able to generate a perfect sequence of square pulses or perfect interpolation between points for servos. Nicklas Karlsson
stepper.m
Description: Binary data
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