107 lines
1.9 KiB
C++
107 lines
1.9 KiB
C++
/*
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* CurrentState.h
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*
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* Created on: 15 maj 2014
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* Author: MattLech
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*/
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#ifndef CURRENTSTATE_H_
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#define CURRENTSTATE_H_
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#include "Arduino.h"
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#include "pins.h"
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enum ErrorListEnum
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{
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ERR_NO_ERROR = 0,
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ERR_EMERGENCY_STOP = 1,
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ERR_TIMEOUT = 2,
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ERR_STALL_DETECTED = 3,
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ERR_CALIBRATION_ERROR = 4,
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ERR_INVALID_COMMAND = 14,
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ERR_PARAMS_NOT_OK = 15,
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ERR_STALL_DETECTED_X = 31,
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ERR_STALL_DETECTED_Y = 32,
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ERR_STALL_DETECTED_Z = 33,
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};
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class CurrentState
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{
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public:
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static CurrentState *getInstance();
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long getX();
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long getY();
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long getZ();
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long *getPoint();
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void setX(long);
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void setY(long);
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void setZ(long);
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long getHomeMissedStepsX();
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long getHomeMissedStepsY();
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long getHomeMissedStepsZ();
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long getHomeMissedStepsXscaled();
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long getHomeMissedStepsYscaled();
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long getHomeMissedStepsZscaled();
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void setHomeMissedStepsX(long);
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void setHomeMissedStepsY(long);
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void setHomeMissedStepsZ(long);
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int getLastError();
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void setLastError(int error);
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void setEndStopState(unsigned int, unsigned int, bool);
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void printPosition();
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String getPosition();
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void storeEndStops();
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void printEndStops();
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void print();
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void printBool(bool);
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void setQ(long);
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void resetQ();
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void printQAndNewLine();
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String getQAndNewLine();
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void setEmergencyStop();
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void resetEmergencyStop();
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bool isEmergencyStop();
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void setStepsPerMm(long stepsX, long stepsY, long stepsZ);
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long getStepsPerMmX();
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long getStepsPerMmY();
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long getStepsPerMmZ();
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private:
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CurrentState();
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CurrentState(CurrentState const &);
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void operator=(CurrentState const &);
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long stepsPerMmX = 1;
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long stepsPerMmY = 1;
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long stepsPerMmZ = 1;
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int errorCode = 0;
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long x = 0;
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long y = 0;
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long z = 0;
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unsigned int speed = 0;
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bool endStopState[3][2];
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long Q = 0;
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int lastError = 0;
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long homeMissedStepX = 0;
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long homeMissedStepY = 0;
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long homeMissedStepZ = 0;
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bool emergencyStop = false;
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};
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#endif /* CURRENTSTATE_H_ */
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