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