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
  12 class Extruder : public Module{
  13     public:
  14         Extruder(PinName stppin);
  15         void on_module_loaded();
  16         void on_config_reload(void* argument);
  17         void on_gcode_execute(void* argument);
  18         void on_block_begin(void* argument);
  19         void on_block_end(void* argument);
  20         void acceleration_tick();
  21         void stepping_tick();
  22
  23         DigitalOut      step_pin;                     // Step pin for the stepper driver
  24         unsigned int    start_position;               // Start point ( in steps ) for the current move
  25         unsigned int    target_position;              // End point ( in steps ) for the current move
  26         unsigned int    current_position;             // Current point ( in steps ) for the current move, incremented every time a step is outputed
  27         Ticker          acceleration_ticker;          // Ticker responsible with updating the speed ( acceleration management ). Uses Timer3
  28         Block*          current_block;                // Current block we are stepping, same as Stepper's one
  29         int             microseconds_per_step_pulse;  // Pulse duration for step pulses
  30
  31         bool            solo_mode;
  32         double          travel_ratio;
  33         double          travel_distance;
  34         bool            absolute_mode;
  35 };
  36
  37 #endif