Diff: SDSK.h

Revision:

2:ea603e66a32e

Parent:

1:491a39c644b1

diff -r 491a39c644b1 -r ea603e66a32e SDSK.h
--- a/SDSK.h	Thu Apr 05 19:12:24 2018 +0000
+++ b/SDSK.h	Mon Dec 02 11:38:14 2019 +0000
@@ -1,14 +1,25 @@
 #ifndef SDSK_h
 #define SDSK_h
 
+#ifndef M_PI
+#define M_PI           3.14159265358979323846
+#endif
+#define DEG2RAD M_PI / 180.0
+#define RAD2DEG 180.0 / M_PI
+
 #include <mbed.h>
+#include <vector>
 
 class SDSK
 {
 public:
     SDSK(PinName _pin_step, PinName _pin_dir, uint32_t _steps_per_rev=51200, double _max_acc=360, double _max_vel=180, uint32_t _min_us_step_pulse=4,  bool _positive_is_ccw=true);
     
-    void move(double target_angle);
+    double move(double target_angle);
+    
+    vector<uint64_t> planner(double target_angle);
+    void move_planner(vector<uint64_t> step_time, double target_angle);
+    void set_dir(double target_angle);
     
     void reverse();
     void zero();
@@ -16,6 +27,7 @@
     void set_max_vel(double _max_vel);
     
     void take_step(); 
+    double position_angle;
      
 private:
     DigitalOut step;
@@ -26,10 +38,12 @@
     double max_vel;
     
     uint32_t min_us_step_pulse;
-    double position_angle;
     
     uint32_t steps_per_rev;
     double steps_per_angle;
+    double angle_per_steps;
+    
+    bool pos_dir;
     
     Serial pc;