StepTicker.h

00001 /*
00002       This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
00003       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.
00004       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.
00005       You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
00006 */
00007 
00008 
00009 
00010 #ifndef STEPTICKER_H
00011 #define STEPTICKER_H
00012 
00013 using namespace std;
00014 #include <vector>
00015 #include <stdint.h>
00016 
00017 #include "libs/Module.h"
00018 
00019 class StepperMotor;
00020 
00021 class StepTicker{
00022     public:
00023         StepTicker();
00024         void set_frequency( float frequency );
00025         void tick();
00026         void signal_moves_finished();
00027         StepperMotor* add_stepper_motor(StepperMotor* stepper_motor);
00028         void set_reset_delay( float seconds );
00029         void reset_tick();
00030         void add_motor_to_active_list(StepperMotor* motor);
00031         void remove_motor_from_active_list(StepperMotor* motor);
00032 
00033         float frequency;
00034         vector<StepperMotor*> stepper_motors;
00035         uint32_t delay;
00036         uint32_t period;
00037         uint32_t debug;
00038         uint32_t last_duration;
00039         bool has_axes;
00040 
00041         bool moves_finished;
00042         bool reset_step_pins;
00043 
00044         StepperMotor* active_motors[12];
00045         uint32_t active_motor_bm;
00046 
00047 };
00048 
00049 
00050 
00051 #endif