Suteppa.h

00001 #ifndef SUTEPPA_H
00002 #define SUTEPPA_H
00003 
00004 #include "mbed.h"
00005 #ifndef M_PI
00006 #define M_PI 3.14159265359
00007 #endif
00008 
00009 class Suteppa
00010 {
00011     public:
00012         Suteppa();
00013         void init(unsigned long allStep, void (*stepper)(int));
00014         void setSpeed(unsigned long speed);
00015         
00016         void setDefaultSmooth(unsigned long step, unsigned long initSpeed);
00017 
00018         void beginSmooth(unsigned long step, unsigned long initSpeed);
00019         void beginSmooth();
00020 
00021         void endSmooth(){_smooth = false;};
00022 
00023         long getStep(){return _step;};
00024         long getStepAbsolute(){return _step%_allStep;};
00025 
00026         unsigned long getSpeed(){return _speed;};
00027 
00028         void rotate(int mode, long step, bool sync);
00029         void rotate(int mode, long step);
00030 
00031         void setHome();
00032         bool tick();
00033 
00034         static const int RELATIVE = 0;
00035         static const int ABSOLUTE = 1;
00036         static const int ABSOLUTE_SKIP = 2;
00037     private:
00038         void _delay(unsigned long time);
00039         
00040         void _rotateAbsolute(long step, bool skip, bool sync);
00041         void _rotateRelative(long step, bool sync);
00042 
00043         void (*_stepper)(int);
00044         void (*_turner)(int);
00045 
00046         bool _smooth;
00047         
00048         long _step;
00049         
00050         unsigned long _allStep;
00051         unsigned long _speed;
00052         unsigned long _initDiff;
00053         unsigned long _smoothStep;
00054         unsigned long _initSpeed;
00055 
00056         unsigned long _defaultSmoothStep;
00057         unsigned long _defaultInitSpeed;
00058 
00059         int _r_direction;
00060         unsigned long _r_step;
00061         unsigned long _r_smoothStep;
00062         bool _r_smooth;
00063         float _r_max;
00064         unsigned int _r_i;
00065         unsigned long _r_time;
00066         unsigned long _r_interval;
00067         
00068         float sigmoid(float x);
00069         Timer timer;
00070 };
00071 
00072 #endif