Diff: CartesianRobot.h

Revision:

0:5af6295f4ec9

Child:

1:0b705e9f84ce

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CartesianRobot.h	Thu Dec 16 01:19:17 2021 +0000
@@ -0,0 +1,91 @@
+#ifndef CARTESIANROBOT_H
+#define CARTESIANROBOT_H
+
+#include "Stepper.h"
+#include "rtos.h"
+
+#define BUFFER_MAX_SIZE 10
+
+class CartesianRobot
+{
+public:
+    // Constructor
+    CartesianRobot(
+        PinName x_step, PinName x_dir, PinName x_en, 
+        PinName y_step, PinName y_dir, PinName y_en,
+        PinName z_step, PinName z_dir, PinName z_en
+    );
+    // Destructor
+    ~CartesianRobot();
+    
+    // Add motion to buffer
+    void moveToXYZ(
+        int x_pos, int y_pos, int z_pos, 
+        float x_speed, float y_speed, float z_speed
+    );
+    // Move robot to absolute position
+    void goToXYZ(int x_pos, int y_pos, int z_pos);
+    // Move motors a set number of steps
+    void moveX(int steps);
+    void moveY(int steps);
+    void moveZ(int steps);
+    
+    // Set motor speeds [steps/sec]
+    void setXSpeed(float speed);
+    void setYSpeed(float speed);
+    void setZSpeed(float speed);
+    // Set motor acceleration ramps [steps/sec²] (0 = infinite acceleration)
+    void setXAcceleration(float acc);
+    void setYAcceleration(float acc);
+    void setZAcceleration(float acc);
+    // Set motor deceleration ramps [steps/sec²] (0 = infinite deceleration)
+    void setXDeceleration(float dec);
+    void setYDeceleration(float dec);
+    void setZDeceleration(float dec);
+    
+    // Enable motor drivers
+    void enable(void);
+    // Disable motor drivers
+    void disable(void);
+    // Check if motor drivers are enabled
+    bool enabled(void);
+    // Check if motors are stopped
+    bool stopped(void);
+    // Get absolute positions from origin
+    int getXPosition(void);
+    int getYPosition(void);
+    int getZPosition(void);
+    
+    // Set origin for absolute motion
+    void setOrigin(void);
+    // Set limits for absolute motion
+    void setLimits(void);
+    // Get limits for absolute motion
+    int getXLimit(void);
+    int getYLimit(void);
+    int getZLimit(void);
+    
+    // Start buffer management thread
+    void startManager(void);
+    
+ private:
+    Stepper _x_stepper;                         // x axis stepper object
+    Stepper _y_stepper;                         // y axis stepper object
+    Stepper _z_stepper;                         // z axis stepper object
+    
+    Mutex _buffer_mutex;                        // thread safe buffer
+    int _buffer_size;                           // current buffer size
+    int _x_buffer_pos[BUFFER_MAX_SIZE];         // x position buffer
+    int _y_buffer_pos[BUFFER_MAX_SIZE];         // y position buffer
+    int _z_buffer_pos[BUFFER_MAX_SIZE];         // z position buffer
+    float _x_buffer_speed[BUFFER_MAX_SIZE];     // x speed buffer
+    float _y_buffer_speed[BUFFER_MAX_SIZE];     // y speed buffer
+    float _z_buffer_speed[BUFFER_MAX_SIZE];     // z speed buffer
+
+    // buffer management
+    Thread* _thread;
+    static void manager(void const *p);
+    
+};
+
+#endif
\ No newline at end of file