Globally enabling slew should be added. During each motion, if slew is used or not should not change this global enable or disable. This would need a new function to set the global slew to true or false, and to check which it's at.
All of the pid_x_set functions would need new copies without the slew parameter, and these would just be wrappers for checking if slew should be used or not.
Globally enabling slew should be added. During each motion, if slew is used or not should not change this global enable or disable. This would need a new function to set the global slew to true or false, and to check which it's at.
All of the
pid_x_setfunctions would need new copies without the slew parameter, and these would just be wrappers for checking if slew should be used or not.