Commit | Line | Data |
---|---|---|
7b49793d | 1 | /* |
feb204be AW |
2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl). |
3 | Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. | |
4 | Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. | |
7b49793d | 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
feb204be AW |
6 | */ |
7 | ||
8 | #ifndef STEPPERMOTOR_H | |
9 | #define STEPPERMOTOR_H | |
10 | ||
11 | #include "libs/Kernel.h" | |
12 | #include "libs/Hook.h" | |
13 | ||
14 | class StepTicker; | |
15 | ||
16 | class StepperMotor { | |
17 | public: | |
18 | StepperMotor(); | |
19 | StepperMotor(Pin* step, Pin* dir, Pin* en); | |
21254749 | 20 | void tick(); |
bd0f7508 | 21 | void move_finished(); |
feb204be | 22 | void move( bool direction, unsigned int steps ); |
bd0f7508 | 23 | void signal_move_finished(); |
feb204be | 24 | void set_speed( double speed ); |
672298b2 | 25 | void update_exit_tick(); |
83ecfc46 AW |
26 | void pause(); |
27 | void unpause(); | |
feb204be AW |
28 | |
29 | template<typename T> void attach( T *optr, uint32_t ( T::*fptr )( uint32_t ) ){ | |
7b49793d | 30 | Hook* hook = new Hook(); |
feb204be AW |
31 | hook->attach(optr, fptr); |
32 | this->end_hook = hook; | |
33 | } | |
34 | ||
2f7d3dba AW |
35 | |
36 | template<typename T> void attach_signal_step(uint32_t step, T *optr, uint32_t ( T::*fptr )( uint32_t ) ){ | |
37 | this->step_signal_hook->attach(optr, fptr); | |
38 | this->signal_step_number = step; | |
7b49793d | 39 | this->signal_step = true; |
2f7d3dba AW |
40 | } |
41 | ||
42 | ||
feb204be | 43 | Hook* end_hook; |
2f7d3dba AW |
44 | Hook* step_signal_hook; |
45 | ||
46 | bool signal_step; | |
47 | uint32_t signal_step_number; | |
feb204be AW |
48 | |
49 | StepTicker* step_ticker; | |
50 | Pin* step_pin; | |
51 | Pin* dir_pin; | |
52 | Pin* en_pin; | |
53 | ||
54 | double steps_per_second; | |
55 | ||
56 | bool moving; | |
57 | bool paused; | |
58 | ||
f6c04440 | 59 | //bool direction_bit; |
bd0f7508 | 60 | //bool step_bit; |
feb204be AW |
61 | |
62 | uint32_t steps_to_move; | |
63 | uint32_t stepped; | |
64 | uint64_t fx_counter; | |
65 | uint64_t fx_ticks_per_step; | |
7b49793d | 66 | |
bd0f7508 AW |
67 | //bool exit_tick; |
68 | bool remove_from_active_list_next_reset; | |
813727fb | 69 | |
bd0f7508 | 70 | bool is_move_finished; // Whether the move just finished |
feb204be AW |
71 | }; |
72 | ||
73 | ||
74 | ||
75 | #endif | |
76 |