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#include "extruder.h"
extruder::extruder()
{
pinMode(H1D, OUTPUT);
pinMode(H1E, OUTPUT);
pinMode(H2D, OUTPUT);
pinMode(H2E, OUTPUT);
pinMode(OUTPUT_A, OUTPUT);
pinMode(OUTPUT_B, OUTPUT);
pinMode(OUTPUT_C, OUTPUT);
pinMode(POT, INPUT);
disableStep();
// Change the frequency of Timer 0 so that PWM on pins H1E and H2E goes at
// a very high frequency (64kHz see:
// http://tzechienchu.typepad.com/tc_chus_point/2009/05/changing-pwm-frequency-on-the-arduino-diecimila.html)
TCCR0B &= ~(0x07);
TCCR0B |= 1;
coilPosition = 0;
forward = true;
// How much is the pot turned up? Take the average of 16 readings.
// Divide it by 4 to spread the valid readings out a bit.
// This is about right for a 1A 3-ohm/coil stepper.
// Note: the pot is only read at reboot.
// int pv = 0;
// for(int i = 0; i < 16; i++)
// pv += analogRead(POT);
// pv = pv/16;
potValue = 80; // pv>>2;
}
void extruder::wait_for_temperature()
{
}
void extruder::valve_set(bool open)
{
}
void extruder::set_direction(bool direction)
{
forward = direction;
}
void extruder::set_cooler(byte e_speed)
{
if(e_speed > 20)
digitalWrite(OUTPUT_B, 1);
else
digitalWrite(OUTPUT_B, 0);
}
void extruder::set_temperature(int temp)
{
if(temp > 20)
digitalWrite(OUTPUT_A, 1);
else
digitalWrite(OUTPUT_A, 0);
}
int extruder::get_temperature()
{
return 99;
}
void extruder::manage()
{
}
void extruder::sStep()
{
// This increments or decrements coilPosition then writes the appropriate pattern to the output pins.
if(forward)
coilPosition++;
else
coilPosition--;
coilPosition &= 7;
// Disable the coils
digitalWrite(H1E, 0);
digitalWrite(H2E, 0);
// Which of the 8 possible patterns do we want?
// The commented out setPower(...) lines could
// be used to run the coils at constant power (with
// half-stepping not each step is equal). Just
// use the value of the argument to setPower(...) to
// scale the PWM values.
switch(coilPosition)
{
case 7:
//setPower((stepPower >> 1) + (stepPower >> 3));
digitalWrite(H1D, 1);
digitalWrite(H2D, 1);
h1Enable = true;
h2Enable = true;
break;
case 6:
//setPower(stepPower);
digitalWrite(H1D, 1);
digitalWrite(H2D, 1);
h1Enable = true;
h2Enable = false;
break;
case 5:
//setPower((stepPower >> 1) + (stepPower >> 3));
digitalWrite(H1D, 1);
digitalWrite(H2D, 0);
h1Enable = true;
h2Enable = true;
break;
case 4:
//setPower(stepPower);
digitalWrite(H1D, 1);
digitalWrite(H2D, 0);
h1Enable = false;
h2Enable = true;
break;
case 3:
//setPower((stepPower >> 1) + (stepPower >> 3));
digitalWrite(H1D, 0);
digitalWrite(H2D, 0);
h1Enable = true;
h2Enable = true;
break;
case 2:
//setPower(stepPower);
digitalWrite(H1D, 0);
digitalWrite(H2D, 0);
h1Enable = true;
h2Enable = false;
break;
case 1:
//setPower((stepPower >> 1) + (stepPower >> 3));
digitalWrite(H1D, 0);
digitalWrite(H2D, 1);
h1Enable = true;
h2Enable = true;
break;
case 0:
//setPower(stepPower);
digitalWrite(H1D, 0);
digitalWrite(H2D, 1);
h1Enable = false;
h2Enable = true;
break;
}
// How much is the pot turned up?
// Divide it by 4 to spread the valid readings out a bit.
// This is about right for a 1A 3-ohm/coil stepper.
//potValue = analogRead(POT)>>2;
// Send the appropriate PWM values
if(h1Enable)
analogWrite(H1E, potValue);
else
analogWrite(H1E, 0);
if(h2Enable)
analogWrite(H2E, potValue);
else
analogWrite(H2E, 0);
}
void extruder::enableStep()
{
// Nothing to do here - step() automatically enables the stepper drivers appropriately.
}
void extruder::disableStep()
{
analogWrite(H1E, 0);
analogWrite(H2E, 0);
}
char* extruder::processCommand(char command[])
{
reply[0] = 0;
switch(command[0])
{
case WAIT_T:
wait_for_temperature();
break;
case VALVE:
valve_set(command[1] == '1');
break;
case DIRECTION:
set_direction(command[1] == '1');
break;
case COOL:
set_cooler(atoi(&command[1]));
break;
case SET_T:
set_temperature(atoi(&command[1]));
break;
case GET_T:
itoa(get_temperature(), reply, 10);
break;
case STEP:
sStep();
break;
case ENABLE:
enableStep();
break;
case DISABLE:
disableStep();
break;
case PING:
break;
default:
return 0; // Flag up dud command
}
return reply;
}
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