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//this is the version of our host software
unsigned int master_version = 0;
//how many queued commands have we processed?
//this will be used to keep track of our current progress.
unsigned long finishedCommands = 0;
//are we paused?
boolean is_tool_paused = false;
int current_temperature = 0;
int target_temperature = 0;
int max_temperature = 0;
int heater_low = 64;
int heater_high = 255;
MotorControlStyle motor1_control = MC_PWM;
volatile MotorControlDirection motor1_dir = MC_FORWARD;
volatile byte motor1_pwm = 0;
volatile long motor1_target_rpm = 0;
volatile long motor1_current_rpm = 0;
boolean motor1_reversal_state = false;
int motor1_reversal_count = 0;
MotorControlStyle motor2_control = MC_PWM;
MotorControlDirection motor2_dir = MC_FORWARD;
byte motor2_pwm = 0;
long motor2_target_rpm = 0;
long motor2_current_rpm = 0;
Servo servo1;
Servo servo2;
//these are for the extruder PID
volatile int speed_error = 0; // extruder position / error variable.
volatile int pGain = SPEED_INITIAL_PGAIN; // Proportional gain
volatile int iGain = SPEED_INITIAL_IGAIN; // Integral gain
volatile int dGain = SPEED_INITIAL_DGAIN; // Derivative gain
volatile int iMax = 500; // Integrator max
volatile int iMin = -500; // Integrator min
volatile int iState = 0; // Integrator state
volatile int dState = 0; // Last position input
//these are our packet classes
SimplePacket masterPacket(rs485_tx);
//variables to keep track of stepper state.
const byte coil_a_enabled = B10011001;
const byte coil_a_direction = B11000011;
const byte coil_b_enabled = B01100110;
const byte coil_b_direction = B11110000;
//what state are we in?
volatile byte stepper_index = 0;
volatile long stepper_ticks = 0;
volatile byte stepper_high_pwm = 0;
volatile byte stepper_low_pwm = 0;
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