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