Diff: libs/StepperMotor.h

Revision:

2:1df0b61d3b5a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/libs/StepperMotor.h	Fri Feb 28 18:52:52 2014 -0800
@@ -0,0 +1,98 @@
+/*
+      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 STEPPERMOTOR_H
+#define STEPPERMOTOR_H
+
+#include "libs/Hook.h"
+#include "Pin.h"
+
+class StepTicker;
+class Hook;
+
+class StepperMotor {
+    public:
+        StepperMotor();
+        StepperMotor(Pin& step, Pin& dir, Pin& en);
+
+        // Called a great many times per second, to step if we have to now
+        inline void tick() {
+            // increase the ( fixed point ) counter by one tick 11t
+            fx_counter += (uint32_t)(1<<16);
+
+            // if we are to step now 10t
+            if (fx_counter >= fx_ticks_per_step)
+                step();
+        };
+
+        void step();
+        inline void unstep() { step_pin.set(0); };
+
+        inline void enable(bool state) { en_pin.set(!state); };
+
+        void move_finished();
+        void move( bool direction, unsigned int steps );
+        void signal_move_finished();
+        void set_speed( float speed );
+        void update_exit_tick();
+        void pause();
+        void unpause();
+
+        void change_steps_per_mm(float);
+        void change_last_milestone(float);
+
+        int  steps_to_target(float);
+
+        template<typename T> void attach( T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
+            Hook* hook = new Hook();
+            hook->attach(optr, fptr);
+            this->end_hook = hook;
+        }
+
+        template<typename T> void attach_signal_step(uint32_t step, T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
+            this->step_signal_hook->attach(optr, fptr);
+            this->signal_step_number = step;
+            this->signal_step = true;
+        }
+
+        Hook* end_hook;
+        Hook* step_signal_hook;
+
+        bool signal_step;
+        uint32_t signal_step_number;
+
+        StepTicker* step_ticker;
+        Pin step_pin;
+        Pin dir_pin;
+        Pin en_pin;
+
+        float steps_per_second;
+
+        volatile bool moving;
+        bool paused;
+
+        float steps_per_mm;
+        float max_rate;
+
+        int32_t last_milestone_steps;
+        float   last_milestone_mm;
+
+        uint32_t steps_to_move;
+        uint32_t stepped;
+        uint32_t fx_counter;
+        uint32_t fx_ticks_per_step;
+
+        bool     direction;
+
+        //bool exit_tick;
+        bool remove_from_active_list_next_reset;
+
+        bool is_move_finished; // Whether the move just finished
+};
+
+#endif
+