Diff: libs/StepTicker.h

Revision:

2:1df0b61d3b5a

Parent:

0:31e91bb0ef3c

Child:

3:f151d08d335c

--- a/libs/StepTicker.h	Sat Mar 01 02:37:29 2014 +0000
+++ b/libs/StepTicker.h	Fri Feb 28 18:52:52 2014 -0800
@@ -1,58 +1,50 @@
-/*  
-      This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
-      Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
-      Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
-      You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. 
-*/
-
-
-
-#ifndef STEPTICKER_H
-#define STEPTICKER_H
-
-using namespace std;
-#include <vector>
-#include "libs/nuts_bolts.h"
-#include "libs/Module.h"
-#include "libs/Kernel.h"
-
-
-class StepTicker{
-    public:
-        StepTicker();
-        void set_frequency( double frequency );
-        void tick();
-        void set_reset_delay( double seconds );
-        void reset_tick();
-
-        // For some reason this can't go in the .cpp, see :  http://mbed.org/forum/mbed/topic/2774/?page=1#comment-14221
-        template<typename T> void attach( T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
-            FPointer* hook = new FPointer(); 
-            hook->attach(optr, fptr);
-            this->hooks.push_back(hook);
-        }
-
-        template<typename T> void reset_attach( T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
-            FPointer* reset_hook = new FPointer(); 
-            reset_hook->attach(optr, fptr);
-            this->reset_hooks.push_back(reset_hook);
-        }
-
-
-        vector<FPointer*> hooks; 
-        vector<FPointer*> reset_hooks; 
-        double frequency;
-
-};
-
-
-
-
-
-
-
-
-
-
-
-#endif
+/*
+      This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
+      Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
+      Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
+      You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+
+
+#ifndef STEPTICKER_H
+#define STEPTICKER_H
+
+using namespace std;
+#include <vector>
+
+#include "libs/Module.h"
+
+class StepperMotor;
+
+class StepTicker{
+    public:
+        StepTicker();
+        void set_frequency( float frequency );
+        void tick();
+        void signal_moves_finished();
+        StepperMotor* add_stepper_motor(StepperMotor* stepper_motor);
+        void set_reset_delay( float seconds );
+        void reset_tick();
+        void add_motor_to_active_list(StepperMotor* motor);
+        void remove_motor_from_active_list(StepperMotor* motor);
+
+        float frequency;
+        vector<StepperMotor*> stepper_motors;
+        uint32_t delay;
+        uint32_t period;
+        uint32_t debug;
+        uint32_t last_duration;
+        bool has_axes;
+
+        bool moves_finished;
+        bool reset_step_pins;
+
+        StepperMotor* active_motors[12];
+        uint32_t active_motor_bm;
+
+};
+
+
+
+#endif