97 lines
2.4 KiB
C++
97 lines
2.4 KiB
C++
/*
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* StepperControl.h
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*
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* Created on: 16 maj 2014
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* Author: MattLech
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*/
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#ifndef STEPPERCONTROL_H_
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#define STEPPERCONTROL_H_
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#include "Arduino.h"
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#include "CurrentState.h"
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#include "ParameterList.h"
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#include "StepperControlAxis.h"
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#include "StepperControlEncoder.h"
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#include "pins.h"
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#include "Config.h"
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#include <stdio.h>
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#include <stdlib.h>
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#include "Command.h"
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class StepperControl {
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public:
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StepperControl();
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StepperControl(StepperControl const&);
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void operator=(StepperControl const&);
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static StepperControl* getInstance();
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//int moveAbsolute( long xDest, long yDest,long zDest,
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// unsigned int maxStepsPerSecond,
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// unsigned int maxAccelerationStepsPerSecond);
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int moveToCoords( long xDest, long yDest, long zDest,
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unsigned int xMaxSpd, unsigned int yMaxSpd, unsigned int zMaxSpd,
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bool homeX, bool homeY, bool homeZ
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);
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void handleMovementInterrupt();
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int calibrateAxis(int axis);
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void initInterrupt();
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void enableMotors();
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void disableMotors();
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bool motorsEnabled();
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void test();
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void test2();
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private:
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StepperControlAxis axisX;
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StepperControlAxis axisY;
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StepperControlAxis axisZ;
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StepperControlEncoder encoderX;
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StepperControlEncoder encoderY;
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StepperControlEncoder encoderZ;
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void checkAxisVsEncoder(StepperControlAxis* axis, StepperControlEncoder* encoder, float* missedSteps, long* lastPosition, float* encoderStepDecay, bool* encoderEnabled);
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void checkAxisSubStatus(StepperControlAxis* axis, int* axisSubStatus);
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bool axisActive[3];
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int axisSubStep[3];
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void loadMotorSettings();
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void loadEncoderSettings();
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bool intToBool(int value);
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void reportPosition();
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void storeEndStops();
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void reportEndStops();
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void reportStatus(StepperControlAxis* axis, int axisSubStatus);
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void reportCalib(StepperControlAxis* axis, int calibStatus);
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unsigned long getMaxLength(unsigned long lengths[3]);
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bool endStopsReached();
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bool homeIsUp[3];
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long speedMax[3];
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long speedMin[3];
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long stepsAcc[3];
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bool motorInv[3];
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bool motor2Inv[3];
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bool motor2Enbl[3];
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bool endStInv[3];
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bool endStEnbl[3];
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long timeOut[3];
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float motorConsMissedSteps[3];
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long motorLastPosition[3];
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int motorConsMissedStepsMax[3];
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float motorConsMissedStepsDecay[3];
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bool motorConsEncoderEnabled[3];
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bool motorMotorsEnabled;
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};
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#endif /* STEPPERCONTROL_H_ */
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