Diff: LinearMotion.h

Revision:

0:3058939fa37c

Child:

1:cf60b60a1b5b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LinearMotion.h	Sat Apr 28 21:08:58 2012 +0000
@@ -0,0 +1,88 @@
+/* mbed Stepper Library
+ * Copyright (c) 2012 Steven Rhodes
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+ 
+#ifndef LINEARMOTION_H
+#define LINEARMOTION_H
+
+#include "mbed.h"
+#include "Stepper.h"
+#include "Bitmap.h"
+
+typedef struct {
+    long x;
+    long y;
+    long z;
+} Vector;
+
+typedef struct {
+    Vector one;
+    Vector two;
+} TwoVectors;
+
+class LinearMotion {
+
+public:
+
+    /** Interpolate to point specified by the vector (relative to current position)
+     * 
+     * @param Stepper * s1 The x stepper motor
+     * @param Stepper * s2 The y stepper motor
+     * @param Stepper * s3 The z stepper motor
+     * @param DigitalOut * solenoid The solenoid
+     * @param bool * pause The variable for pausing
+     * @param bool * stop The variable for stopping
+     */
+    void setStepMotors(Stepper * s1, Stepper * s2, Stepper * s3, DigitalOut * solenoid, bool * pause, bool * stop);
+
+    /** Interpolate to point specified by the vector (relative to current position)
+     * 
+     * @param Vector length The vector specifying where to go
+     * @param int maxSpeed Max speed used to get to position
+     * @param bool solenoidOn Whether to have the solenoid on
+     */
+    void interpolate(Vector length, int maxSpeed, bool solenoidOn);
+    void interpolate(Vector length, int maxSpeed);
+    
+    /** Interpolate to square specified by the vector (relative to current position)
+     * 
+     * @param Vector basePos Position defining the base of the square
+     * @param Vector heightPos Position defining the height of the square
+     * @param int maxSpeed Max speed used to get to position
+     * @param bool solenoidOn Whether to have the solenoid on
+     */
+    void interpolateSquare(Vector basePos, Vector heightPos, int maxSpeed, bool solenoidOn);
+  
+private:
+    void doLinearSideways(Vector delta, Vector nextRow, Stepper ** stepMotor, int maxSpeed, bool solenoidOn);
+    void doLinear(Vector delta, Stepper** stepMotor, int maxSpeed, bool solenoidOn);
+    void enableSteppers(bool en);
+    int delayTime (int oldDelay, int stepNumber);
+    Stepper * StepMotor[3];
+    DigitalOut * _sol;
+    Bitmap _bmp;
+    bool reversing;
+    volatile bool * _paused;
+    volatile bool * _stopped;
+    bool _z, _z_slantways;
+};
+ 
+ #endif
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