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/*
LinearAxis.h - RepRap Linear Axis library for Arduino
The interface for controlling a linear axis: stepper motor + min/max sensors + optional encoder
Memory Usage Estimate: 25 + repstepper usage.
History:
* (0.1) Created library by Zach Smith.
* (0.2) Optimized for less memory usage and faster performance
* (0.3) Rewrote and refactored all code. Fixed major interrupt bug by Zach Smith.
License: GPL v2.0
*/
// ensure this library description is only included once
#ifndef LinearAxis_h
#define LinearAxis_h
#include <RepStepper.h>
// library interface description
class LinearAxis {
public:
// constructors:
LinearAxis(char id, int steps, byte dir_pin, byte step_pin, byte min_pin, byte max_pin, byte enable_pin);
//these are our other object variables.
RepStepper stepper;
//various guys to interface with class
void readState();
void doStep();
bool atMin();
bool atMax();
//various position things.
void setPosition(long position);
void setTarget(long t);
void forward1();
void reverse1();
//dda functions
void initDDA(long max_delta);
void ddaStep(long max_delta);
char id; //what is our id? x, y, z, etc.
bool can_step; //are we capable of taking a step yet?
long delta; //our delta for our DDA moves.
long current; //this is our current position.
long target; //this is our target position.
long max; //this is our max coordinate.
long counter; //this is our counter variable for dda.
private:
byte min_pin;
byte max_pin;
};
inline bool LinearAxis::atMin()
{
return digitalRead(this->min_pin);
}
/*
* NB!!! Turned off by Adrian to free up pins
*/
inline bool LinearAxis::atMax()
{
return 0;
//return digitalRead(this->max_pin);
}
inline 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();
}
inline void LinearAxis::forward1()
{
stepper.setDirection(RS_FORWARD);
stepper.pulse();
this->current++;
}
inline void LinearAxis::reverse1()
{
stepper.setDirection(RS_REVERSE);
stepper.pulse();
this->current--;
}
inline void LinearAxis::setPosition(long p)
{
this->current = p;
//recalculate stuff.
this->setTarget(this->target);
}
inline void LinearAxis::initDDA(long max_delta)
{
this->counter = -max_delta/2;
}
#endif
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