farmbot-arduino-firmware/src/StepperControl.h

/*
 * StepperControl.h
 *
 *  Created on: 16 maj 2014
 *      Author: MattLech
 */

#ifndef STEPPERCONTROL_H_
#define STEPPERCONTROL_H_

#include "Arduino.h"
#include "CurrentState.h"
#include "ParameterList.h"
#include "StepperControlAxis.h"
#include "StepperControlEncoder.h"
#include "pins.h"
#include "Config.h"
#include <stdio.h>
#include <stdlib.h>
#include "Command.h"

class StepperControl {
public:
	StepperControl();
	StepperControl(StepperControl const&);
	void operator=(StepperControl const&);

	static StepperControl* getInstance();
	//int moveAbsolute(	long xDest, long yDest,long zDest,
	//			unsigned int maxStepsPerSecond,
	//			unsigned int maxAccelerationStepsPerSecond);
	int moveToCoords(	long xDest, long yDest, long zDest, 
				 unsigned int xMaxSpd, unsigned int yMaxSpd, unsigned int zMaxSpd,
				 bool homeX, bool homeY, bool homeZ
			);

	void handleMovementInterrupt();
	int calibrateAxis(int axis);
	void initInterrupt();
	void enableMotors();
	void disableMotors();
	bool motorsEnabled();

	void test();
	void test2();

private:
	StepperControlAxis axisX;
	StepperControlAxis axisY;
	StepperControlAxis axisZ;

	StepperControlEncoder encoderX;
	StepperControlEncoder encoderY;
	StepperControlEncoder encoderZ;

	void checkAxisVsEncoder(StepperControlAxis* axis, StepperControlEncoder* encoder, float* missedSteps, long* lastPosition, float* encoderStepDecay, bool* encoderEnabled);
	void checkAxisSubStatus(StepperControlAxis* axis, int* axisSubStatus);

	bool axisActive[3];
	int axisSubStep[3];

	void loadMotorSettings();
	void loadEncoderSettings();
	bool intToBool(int value);

        void reportPosition();
        void storeEndStops();
        void reportEndStops();
	void reportStatus(StepperControlAxis* axis, int axisSubStatus);
	void reportCalib(StepperControlAxis* axis, int calibStatus);

	unsigned long getMaxLength(unsigned long lengths[3]);
	bool endStopsReached();

        bool homeIsUp[3];
        long speedMax[3];
        long speedMin[3];
        long stepsAcc[3];
        bool motorInv[3];
        bool motor2Inv[3];
        bool motor2Enbl[3];
        bool endStInv[3];
        bool endStEnbl[3];
        long timeOut[3];

        float motorConsMissedSteps[3];
        long motorLastPosition[3];

        int motorConsMissedStepsMax[3];
        float motorConsMissedStepsDecay[3];
        bool motorConsEncoderEnabled[3];

	bool motorMotorsEnabled;
};

#endif /* STEPPERCONTROL_H_ */