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// Class for controlling each extruder
//
// Adrian Bowyer 14 May 2009
#ifndef EXTRUDER_H
#define EXTRUDER_H
#define EXTRUDER_FORWARD LOW
#define EXTRUDER_REVERSE HIGH
#define EXTRUDER_COUNT 1
void manage_all_extruders();
class extruder
{
private:
// NEW ERIK
#if TEMP_PID
float temp_pGain;
float temp_iGain;
float temp_dGain;
int temp_dState;
long temp_iState;
float temp_iState_max; // set in update_windup
float temp_iState_min; // set in update_windup
#endif
// NEW ERIK
unsigned long temp_prev_time; // ms
bool temp_control_enabled;
int temp_update(int dt);
//these our the default values for the extruder.
byte e_speed;
int target_temperature;
int max_temperature;
int current_temperature;
byte heater_low;
byte heater_high;
byte heater_current;
int extrude_step_count;
// These are used for temperature control
byte count ;
int oldT, newT;
//this is for doing encoder based extruder control
int rpm;
long e_delay;
int error;
int last_extruder_error;
int error_delta;
bool e_direction;
bool valve_open;
// The pins we control
byte motor_dir_pin, motor_speed_pin, heater_pin, fan_pin, temp_pin, valve_dir_pin, valve_en_pin, step_en_pin;
public:
extruder(byte md_pin, byte ms_pin, byte h_pin, byte f_pin, byte t_pin, byte vd_pin, byte ve_pin, byte se_pin);
void wait_for_temperature();
//byte wait_till_cool();
byte wait_till_hot();
void temperature_error();
void valve_set(bool open, int millis);
void set_direction(bool direction);
// void set_speed(float es);
void set_cooler(byte e_speed);
void set_temperature(int temp);
int get_temperature();
int sample_temperature(byte pin);
void manage();
// NEW ERIK
void temp_pid_update_windup();
// Interrupt setup and handling functions for stepper-driven extruders
void interrupt();
void step();
void enableStep();
void disableStep();
};
inline void extruder::enableStep()
{
if(step_en_pin < 0)
return;
digitalWrite(step_en_pin, LOW); //ERIK // Should be ENABLE_ON, but I have a mix of controllers
}
inline void extruder::disableStep()
{
if(step_en_pin < 0)
return;
digitalWrite(step_en_pin, HIGH);//ERIK
// Serial.println("disableStep");
}
inline void extruder::step()
{
// for(int a=0;a<50;a++)
// {
// digitalWrite(motor_dir_pin,digitalRead(motor_dir_pin));
digitalWrite(motor_speed_pin, LOW);//ERIK
//
delayMicroseconds(5);
digitalWrite(motor_speed_pin, HIGH); //ERIK
//delay(1000);
// }
// Serial.print("step. Dir pin: ");
//if(digitalRead(motor_dir_pin))
// Serial.println(motor_dir_pin);
//else Serial.println(" reverse");
}
inline void extruder::temperature_error()
{
Serial.print("E: ");
Serial.println(get_temperature());
}
//warmup if we're too cold; cool down if we're too hot
inline void extruder::wait_for_temperature()
{
/*
if(wait_till_cool())
{
temperature_error();
return;
}
*/
if(wait_till_hot())
temperature_error();
}
inline void extruder::set_direction(bool dir)
{
e_direction = dir;
digitalWrite(motor_dir_pin, !e_direction);
}
inline void extruder::set_cooler(byte sp)
{
if(step_en_pin >= 0) // Step enable conflicts with the fan
return;
analogWrite(fan_pin, sp);
}
#endif
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