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#include "LinearAxis.h"
#include "WConstants.h"
LinearAxis::LinearAxis(char id, int steps, byte dir_pin, byte step_pin, byte min_pin, byte max_pin, byte enable_pin) : stepper(steps, dir_pin, step_pin, enable_pin)
{
this->id = id;
this->current = 0;
this->target = 0;
this->max = 0;
this->min_pin = min_pin;
this->max_pin = max_pin;
this->stepper.setDirection(RS_FORWARD);
this->readState();
}
void LinearAxis::readState()
{
//stop us if we're on target
if (this->target == this->current)
this->can_step = false;
//stop us if we're at home and still going
else if (this->atMin() && (this->stepper.direction == RS_REVERSE))
this->can_step = false;
//stop us if we're at max and still going
else if (this->atMax() && (this->stepper.direction == RS_FORWARD))
this->can_step = false;
//default to being able to step
else
this->can_step = true;
}
bool LinearAxis::atMin()
{
return digitalRead(this->min_pin);
}
/*
* NB!!! Turned off by Adrian to free up pins
*/
bool LinearAxis::atMax()
{
return 0;
//return digitalRead(this->max_pin);
}
void LinearAxis::doStep()
{
//gotta call readState() before you can step again!
//this->can_step = false;
//record our step
if (this->stepper.direction == RS_FORWARD)
this->forward1();
else
this->reverse1();
}
void LinearAxis::forward1()
{
stepper.setDirection(RS_FORWARD);
stepper.pulse();
this->current++;
}
void LinearAxis::reverse1()
{
stepper.setDirection(RS_REVERSE);
stepper.pulse();
this->current--;
}
void LinearAxis::setPosition(long p)
{
this->current = p;
//recalculate stuff.
this->setTarget(this->target);
}
void LinearAxis::setTarget(long t)
{
this->target = t;
if (this->target >= this->current)
stepper.setDirection(RS_FORWARD);
else
stepper.setDirection(RS_REVERSE);
this->delta = abs(this->target - this->current);
}
void LinearAxis::initDDA(long max_delta)
{
this->counter = -max_delta/2;
}
void LinearAxis::ddaStep(long max_delta)
{
this->counter += this->delta;
if (this->counter > 0)
{
this->doStep();
this->counter -= max_delta;
}
}
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