src/libs/StepTicker.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
   9
  10 #ifndef STEPTICKER_H
  11 #define STEPTICKER_H
  12
  13 using namespace std;
  14 #include <vector>
  15 #include "libs/nuts_bolts.h"
  16 #include "libs/Module.h"
  17 #include "libs/Kernel.h"
  18 #include "libs/StepperMotor.h"
  19
  20 class StepTicker{
  21     public:
  22         StepTicker();
  23         void set_frequency( double frequency );
  24         void tick();
  25         StepperMotor* add_stepper_motor(StepperMotor* stepper_motor);
  26         void set_reset_delay( double seconds );
  27         void reset_tick();
  28
  29         double frequency;
  30         vector<StepperMotor*> stepper_motors;
  31         uint32_t delay;
  32         uint32_t period;
  33         uint32_t debug;
  34         uint32_t last_duration;
  35 };
  36
  37
  38
  39 #endif