src/libs/StepperMotor.h

   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         void tick();
  21         void move_finished();
  22         void move( bool direction, unsigned int steps );
  23         void signal_move_finished();
  24         void set_speed( double speed );
  25         void update_exit_tick();
  26         void pause();
  27         void unpause();
  28
  29         template<typename T> void attach( T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
  30             Hook* hook = new Hook();
  31             hook->attach(optr, fptr);
  32             this->end_hook = hook;
  33         }
  34
  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;
  39             this->signal_step = true;
  40         }
  41
  42
  43         Hook* end_hook;
  44         Hook* step_signal_hook;
  45
  46         bool signal_step;
  47         uint32_t signal_step_number;
  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         volatile bool moving;
  57         bool paused;
  58
  59         //bool direction_bit;
  60         //bool step_bit;
  61
  62         uint32_t steps_to_move;
  63         uint32_t stepped;
  64         uint64_t fx_counter;
  65         uint64_t fx_ticks_per_step;
  66
  67         //bool exit_tick;
  68         bool remove_from_active_list_next_reset;
  69
  70         bool is_move_finished; // Whether the move just finished
  71 };
  72
  73
  74
  75 #endif
  76