Adam Resnick
/
StepperMotors
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LinearMotion.h@1:cf60b60a1b5b, 2012-05-04 (annotated)
- Committer:
- stretch
- Date:
- Fri May 04 06:25:41 2012 +0000
- Revision:
- 1:cf60b60a1b5b
- Parent:
- 0:3058939fa37c
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| stretch | 0:3058939fa37c | 1 | /* mbed Stepper Library |
| stretch | 0:3058939fa37c | 2 | * Copyright (c) 2012 Steven Rhodes |
| stretch | 0:3058939fa37c | 3 | * |
| stretch | 0:3058939fa37c | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
| stretch | 0:3058939fa37c | 5 | * of this software and associated documentation files (the "Software"), to deal |
| stretch | 0:3058939fa37c | 6 | * in the Software without restriction, including without limitation the rights |
| stretch | 0:3058939fa37c | 7 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
| stretch | 0:3058939fa37c | 8 | * copies of the Software, and to permit persons to whom the Software is |
| stretch | 0:3058939fa37c | 9 | * furnished to do so, subject to the following conditions: |
| stretch | 0:3058939fa37c | 10 | * |
| stretch | 0:3058939fa37c | 11 | * The above copyright notice and this permission notice shall be included in |
| stretch | 0:3058939fa37c | 12 | * all copies or substantial portions of the Software. |
| stretch | 0:3058939fa37c | 13 | * |
| stretch | 0:3058939fa37c | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| stretch | 0:3058939fa37c | 15 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| stretch | 0:3058939fa37c | 16 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
| stretch | 0:3058939fa37c | 17 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| stretch | 0:3058939fa37c | 18 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| stretch | 0:3058939fa37c | 19 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
| stretch | 0:3058939fa37c | 20 | * THE SOFTWARE. |
| stretch | 0:3058939fa37c | 21 | */ |
| stretch | 0:3058939fa37c | 22 | |
| stretch | 0:3058939fa37c | 23 | #ifndef LINEARMOTION_H |
| stretch | 0:3058939fa37c | 24 | #define LINEARMOTION_H |
| stretch | 0:3058939fa37c | 25 | |
| stretch | 0:3058939fa37c | 26 | #include "mbed.h" |
| stretch | 0:3058939fa37c | 27 | #include "Stepper.h" |
| stretch | 0:3058939fa37c | 28 | #include "Bitmap.h" |
| stretch | 0:3058939fa37c | 29 | |
| stretch | 0:3058939fa37c | 30 | typedef struct { |
| stretch | 0:3058939fa37c | 31 | long x; |
| stretch | 0:3058939fa37c | 32 | long y; |
| stretch | 0:3058939fa37c | 33 | long z; |
| stretch | 0:3058939fa37c | 34 | } Vector; |
| stretch | 0:3058939fa37c | 35 | |
| stretch | 0:3058939fa37c | 36 | typedef struct { |
| stretch | 0:3058939fa37c | 37 | Vector one; |
| stretch | 0:3058939fa37c | 38 | Vector two; |
| stretch | 0:3058939fa37c | 39 | } TwoVectors; |
| stretch | 0:3058939fa37c | 40 | |
| stretch | 0:3058939fa37c | 41 | class LinearMotion { |
| stretch | 0:3058939fa37c | 42 | |
| stretch | 0:3058939fa37c | 43 | public: |
| stretch | 0:3058939fa37c | 44 | |
| stretch | 0:3058939fa37c | 45 | /** Interpolate to point specified by the vector (relative to current position) |
| stretch | 0:3058939fa37c | 46 | * |
| stretch | 0:3058939fa37c | 47 | * @param Stepper * s1 The x stepper motor |
| stretch | 0:3058939fa37c | 48 | * @param Stepper * s2 The y stepper motor |
| stretch | 0:3058939fa37c | 49 | * @param Stepper * s3 The z stepper motor |
| stretch | 0:3058939fa37c | 50 | * @param DigitalOut * solenoid The solenoid |
| stretch | 0:3058939fa37c | 51 | * @param bool * pause The variable for pausing |
| stretch | 0:3058939fa37c | 52 | * @param bool * stop The variable for stopping |
| stretch | 0:3058939fa37c | 53 | */ |
| stretch | 0:3058939fa37c | 54 | void setStepMotors(Stepper * s1, Stepper * s2, Stepper * s3, DigitalOut * solenoid, bool * pause, bool * stop); |
| stretch | 0:3058939fa37c | 55 | |
| stretch | 0:3058939fa37c | 56 | /** Interpolate to point specified by the vector (relative to current position) |
| stretch | 0:3058939fa37c | 57 | * |
| stretch | 0:3058939fa37c | 58 | * @param Vector length The vector specifying where to go |
| stretch | 0:3058939fa37c | 59 | * @param int maxSpeed Max speed used to get to position |
| stretch | 0:3058939fa37c | 60 | * @param bool solenoidOn Whether to have the solenoid on |
| stretch | 0:3058939fa37c | 61 | */ |
| stretch | 0:3058939fa37c | 62 | void interpolate(Vector length, int maxSpeed, bool solenoidOn); |
| stretch | 0:3058939fa37c | 63 | void interpolate(Vector length, int maxSpeed); |
| stretch | 0:3058939fa37c | 64 | |
| stretch | 0:3058939fa37c | 65 | /** Interpolate to square specified by the vector (relative to current position) |
| stretch | 0:3058939fa37c | 66 | * |
| stretch | 0:3058939fa37c | 67 | * @param Vector basePos Position defining the base of the square |
| stretch | 0:3058939fa37c | 68 | * @param Vector heightPos Position defining the height of the square |
| stretch | 0:3058939fa37c | 69 | * @param int maxSpeed Max speed used to get to position |
| stretch | 0:3058939fa37c | 70 | * @param bool solenoidOn Whether to have the solenoid on |
| stretch | 0:3058939fa37c | 71 | */ |
| stretch | 0:3058939fa37c | 72 | void interpolateSquare(Vector basePos, Vector heightPos, int maxSpeed, bool solenoidOn); |
| stretch | 1:cf60b60a1b5b | 73 | |
| stretch | 1:cf60b60a1b5b | 74 | /** Set various settings for how we do linear motion |
| stretch | 1:cf60b60a1b5b | 75 | * |
| stretch | 1:cf60b60a1b5b | 76 | * @param long steps_per_pixel The number of steps to go per pixel |
| stretch | 1:cf60b60a1b5b | 77 | * @param long initial_delay The initial speed for linear acceleration |
| stretch | 1:cf60b60a1b5b | 78 | * @param long step_buffer steps_per_pixel/step_buffer is the size of the gap on either side of a pixel |
| stretch | 1:cf60b60a1b5b | 79 | */ |
| stretch | 1:cf60b60a1b5b | 80 | void updateSettings(long steps_per_pixel, long initial_delay, long step_buffer); |
| stretch | 0:3058939fa37c | 81 | |
| stretch | 0:3058939fa37c | 82 | private: |
| stretch | 0:3058939fa37c | 83 | void doLinearSideways(Vector delta, Vector nextRow, Stepper ** stepMotor, int maxSpeed, bool solenoidOn); |
| stretch | 0:3058939fa37c | 84 | void doLinear(Vector delta, Stepper** stepMotor, int maxSpeed, bool solenoidOn); |
| stretch | 0:3058939fa37c | 85 | void enableSteppers(bool en); |
| stretch | 0:3058939fa37c | 86 | int delayTime (int oldDelay, int stepNumber); |
| stretch | 0:3058939fa37c | 87 | Stepper * StepMotor[3]; |
| stretch | 0:3058939fa37c | 88 | DigitalOut * _sol; |
| stretch | 0:3058939fa37c | 89 | Bitmap _bmp; |
| stretch | 0:3058939fa37c | 90 | bool reversing; |
| stretch | 0:3058939fa37c | 91 | volatile bool * _paused; |
| stretch | 0:3058939fa37c | 92 | volatile bool * _stopped; |
| stretch | 0:3058939fa37c | 93 | bool _z, _z_slantways; |
| stretch | 1:cf60b60a1b5b | 94 | |
| stretch | 1:cf60b60a1b5b | 95 | long _steps_per_pixel; |
| stretch | 1:cf60b60a1b5b | 96 | long _z_steps_per_pixel; |
| stretch | 1:cf60b60a1b5b | 97 | long _step_buffer; // Make a gap of _steps_per_pixel/_step_buffer between each pixel |
| stretch | 1:cf60b60a1b5b | 98 | long _initial_delay; // in us |
| stretch | 0:3058939fa37c | 99 | }; |
| stretch | 0:3058939fa37c | 100 | |
| stretch | 0:3058939fa37c | 101 | #endif |