mirror of
https://github.com/thunderbug1/Spherebot-Host-GUI.git
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76 lines
1.8 KiB
C++
76 lines
1.8 KiB
C++
/*
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* Copyright 2011 by Eberhard Rensch <http://pleasantsoftware.com/developer/3d>
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>
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*/
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#ifndef STEPPERMODEL
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#define STEPPERMODEL
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// Uncomment if You have Autohoming:
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//#define AUTO_HOMING
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class StepperModel
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{
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private:
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int dirPin;
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int stepPin;
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int enablePin;
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int ms1Pin;
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int ms2Pin;
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int endStopPin;
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long minStepCount;
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long maxStepCount;
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double steps_per_mm;
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double kStepsPerRevolution;
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int kMicroStepping;
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volatile long currentStepcount;
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volatile long targetStepcount;
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volatile bool direction;
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long getStepsForMM(double mm);
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public:
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volatile long delta;
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volatile long counter;
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double targetPosition;
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StepperModel(int inDirPin, int inStepPin, int inEnablePin, int inEndStopPin,int inMs1Pin, int inMs2Pin,bool vms1,bool vms2,
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long minSC, long maxSC,
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double in_kStepsPerRevolution, int in_kMicroStepping);
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void resetSteppersForObjectDiameter(double diameter);
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#ifdef AUTO_HOMING
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void autoHoming();
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#endif
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void setTargetPosition(double pos);
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double getCurrentPosition();
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void enableStepper(bool enabled);
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void resetStepper();
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void doStep(long intervals);
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};
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#endif
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