| 1 | /* |
| 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. |
| 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
| 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); |
| 20 | bool tick(); |
| 21 | void move( bool direction, unsigned int steps ); |
| 22 | void set_speed( double speed ); |
| 23 | |
| 24 | template<typename T> void attach( T *optr, uint32_t ( T::*fptr )( uint32_t ) ){ |
| 25 | Hook* hook = new Hook(); |
| 26 | hook->attach(optr, fptr); |
| 27 | this->end_hook = hook; |
| 28 | } |
| 29 | |
| 30 | Hook* end_hook; |
| 31 | |
| 32 | StepTicker* step_ticker; |
| 33 | Pin* step_pin; |
| 34 | Pin* dir_pin; |
| 35 | Pin* en_pin; |
| 36 | |
| 37 | double steps_per_second; |
| 38 | |
| 39 | bool moving; |
| 40 | bool paused; |
| 41 | |
| 42 | bool direction_bit; |
| 43 | bool step_bit; |
| 44 | |
| 45 | uint32_t steps_to_move; |
| 46 | uint32_t stepped; |
| 47 | uint64_t fx_counter; |
| 48 | uint64_t fx_ticks_per_step; |
| 49 | }; |
| 50 | |
| 51 | |
| 52 | |
| 53 | #endif |
| 54 | |