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#ifndef EXTRUDER_H
#define EXTRUDER_H
#define REPLY_LENGTH 20
#define WAIT_T 'W' // wait_for_temperature();
#define VALVE 'V' // valve_set(bool open, int dTime);
#define DIRECTION 'D' // set_direction(bool direction);
#define COOL 'C' // set_cooler(byte e_speed);
#define SET_T 'T' // set_temperature(int temp);
#define GET_T 't' // get_temperature();
#define STEP 'S' // step();
#define ENABLE 'E' // enableStep();
#define DISABLE 'e' // disableStep();
#define PREAD 'R' // read the pot voltage
#define SPWM 'M' // Set the motor PWM
#define PING 'P' // Just acknowledge
// PID definitions
#define TEMP_PID_INTEGRAL_DRIVE_MAX 110
#define TEMP_PID_PGAIN 5.0
#define TEMP_PID_IGAIN 0.1
#define TEMP_PID_DGAIN 100.0
//******************************************************************************************************
// Divide by this to correct for the fact that we have
// messed up the timer clock
#define MILLI_CORRECTION 64
// The temperature routines get called each time the main loop
// has gone round this many times
#define SLOW_CLOCK 5000
// Default PWM for the extruder stepper
#define STEP_PWM 150
// Pin defintion section. This is for the RepRap Extruder Controler V2.2
//our RS485 pins
#define RX_ENABLE_PIN 4
#define TX_ENABLE_PIN 16
// Pins to direct-drive the extruder stepper
#define E_STEP_PIN 10
#define E_DIR_PIN 9
#ifdef MAX6675_THERMOCOUPLE
// I2C pins for the MAX 6675 temperature chip
#define SO 18 // MISO
#define SCK 19 // Serial Clock
#define TC_0 17 // CS Pin of MAX6607
#else
#define TEMP_PIN 3
#endif
// Control pins for the A3949 chips
#define H1D 7
#define H1E 5
#define H2D 8
#define H2E 6
// Analogue read of this pin gets the potentiometer setting
#define POT 0
// MOSFET drivers
#define OUTPUT_A 15
#define OUTPUT_B 11
#define OUTPUT_C 12
#define DEBUG_PIN 13
// The LED blink function
extern void blink(bool on);
// ******************************************************************************
class extruder
{
public:
extruder();
char* processCommand(char command[]);
void manage();
private:
byte coilPosition;// Stepper position between 0 and 7 inclusive
byte pwmValue; // PWM to the motor
byte stp; // Tracks the step signal
int targetTemperature; // Target temperature in C
int currentTemperature; // Current temperature in C
int manageCount; // Timing in the manage function
bool forward; // Extrude direction
char reply[REPLY_LENGTH]; // For sending messages back
#ifdef PID_CONTROL
volatile int iState; // Integrator state
volatile int dState; // Last position input
unsigned long previousTime; // ms
float pGain;
float iGain;
float dGain;
int temp_dState;
long temp_iState;
float temp_iState_max;
float temp_iState_min;
byte pidCalculation(int dt);
#endif
void waitForTemperature();
void slowManage();
int internalTemperature();
void valveSet(bool open);
void setDirection(bool direction);
void setCooler(byte e_speed);
void setTemperature(int t);
int getTemperature();
void controlTemperature();
void sStep();
void enableStep();
void disableStep();
int potVoltage();
void setPWM(int p);
};
#endif
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