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 #pragma once
   9
  10 #include "Pin.h"
  11 #include <atomic>
  12 #include <functional>
  13
  14 class StepTicker;
  15 class Hook;
  16
  17 class StepperMotor {
  18     public:
  19         StepperMotor();
  20         StepperMotor(Pin& step, Pin& dir, Pin& en);
  21         ~StepperMotor();
  22
  23         inline void step() { current_position_steps += (direction?-1:1); step_pin.set( 1 ); }
  24         inline void unstep() { step_pin.set(0); }
  25         inline void set_direction(bool f) { direction= f; dir_pin.set(f); }
  26
  27         inline void enable(bool state) { en_pin.set(!state); };
  28
  29         bool which_direction() const { return direction; }
  30
  31         float get_steps_per_second()  const { return steps_per_second; }
  32         float get_steps_per_mm()  const { return steps_per_mm; }
  33         void change_steps_per_mm(float);
  34         void change_last_milestone(float);
  35         float get_last_milestone(void) const { return last_milestone_mm; }
  36         float get_current_position(void) const { return (float)current_position_steps/steps_per_mm; }
  37         float get_max_rate(void) const { return max_rate; }
  38         void set_max_rate(float mr) { max_rate= mr; }
  39
  40         int  steps_to_target(float);
  41
  42         friend class StepTicker;
  43         friend class Stepper;
  44         friend class Planner;
  45         friend class Robot;
  46
  47     private:
  48         void init();
  49
  50         int index;
  51
  52         Pin step_pin;
  53         Pin dir_pin;
  54         Pin en_pin;
  55
  56         float steps_per_second;
  57         float steps_per_mm;
  58         float max_rate; // this is not really rate it is in mm/sec, misnamed used in Robot and Extruder
  59         float minimum_step_rate; // this is the minimum step_rate in steps/sec for this motor for this block
  60         static float default_minimum_actuator_rate;
  61
  62         volatile int32_t current_position_steps;
  63         int32_t last_milestone_steps;
  64         float   last_milestone_mm;
  65
  66         volatile struct {
  67             bool direction:1;
  68         };
  69 };
  70