src/modules/tools/extruder/Extruder.h

   1 #ifndef EXTURDER_MODULE_H
   2 #define EXTRUDER_MODULE_H
   3
   4 #include "mbed.h"
   5 #include "libs/Module.h"
   6 #include "libs/Kernel.h"
   7 #include "modules/robot/Block.h"
   8
   9 #define microseconds_per_step_pulse_ckeckusm 42333
  10 #define extruder_module_enable_checksum      6183
  11 #define steps_per_millimeter_checksum        58088
  12 #define default_feed_rate_checksum           53183
  13 #define acceleration_checksum                60356
  14
  15
  16 class Extruder : public Module{
  17     public:
  18         Extruder(PinName stppin, PinName dirpin);
  19         void on_module_loaded();
  20         void on_config_reload(void* argument);
  21         void on_gcode_execute(void* argument);
  22         void on_block_begin(void* argument);
  23         void on_block_end(void* argument);
  24         void on_speed_change(void* argument);
  25         void acceleration_tick();
  26         void stepping_tick();
  27
  28         DigitalOut      step_pin;                     // Step pin for the stepper driver
  29         DigitalOut      dir_pin;                      // Dir pin for the stepper driver
  30         double          start_position;               // Start point ( in steps ) for the current move
  31         double          target_position;              // End point ( in steps ) for the current move
  32         double          current_position;             // Current point ( in steps ) for the current move, incremented every time a step is outputed
  33         Ticker          acceleration_ticker;          // Ticker responsible with updating the speed ( acceleration management ). Uses Timer3
  34         Block*          current_block;                // Current block we are stepping, same as Stepper's one
  35         int             microseconds_per_step_pulse;  // Pulse duration for step pulses
  36         double          steps_per_millimeter;         // Steps to travel one millimeter
  37         double          feed_rate;                    //
  38         double          acceleration;                 //
  39
  40         bool            solo_mode;
  41         double          travel_ratio;
  42         double          travel_distance;
  43         bool            absolute_mode;
  44
  45         int             direction;
  46
  47         bool            debug;
  48         int debug_count;
  49 };
  50
  51 #endif