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https://github.com/hairu/freelss.git
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109 lines
3.2 KiB
C++
109 lines
3.2 KiB
C++
/*
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****************************************************************************
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* Copyright (c) 2014 Uriah Liggett <freelaserscanner@gmail.com> *
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* This file is part of FreeLSS. *
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* *
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* FreeLSS 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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* FreeLSS 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 FreeLSS. If not, see <http://www.gnu.org/licenses/>. *
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****************************************************************************
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*/
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#include "Main.h"
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#include "A4988TurnTable.h"
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#include "Thread.h"
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#include "Setup.h"
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#include "PresetManager.h"
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namespace freelss
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{
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A4988TurnTable::A4988TurnTable()
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{
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Setup * setup = Setup::get();
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m_responseDelay = setup->motorResponseDelay;
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m_stepDelay = setup->motorStepDelay;
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m_enablePin = setup->motorEnablePin;
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m_stepPin = setup->motorStepPin;
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m_directionPin = setup->motorDirPin;
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m_stepsPerRevolution = setup->stepsPerRevolution;
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m_stabilityDelay = PresetManager::get()->getActivePreset().stabilityDelay;
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}
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A4988TurnTable::~A4988TurnTable()
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{
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// Disable the stepper
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digitalWrite(m_enablePin, HIGH);
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Thread::usleep(m_responseDelay);
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}
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void A4988TurnTable::initialize()
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{
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Setup * setup = Setup::get();
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int responseDelay = setup->motorResponseDelay;
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int enablePin = setup->motorEnablePin;
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int stepPin = setup->motorStepPin;
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int directionPin = setup->motorDirPin;
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// Disable the stepper
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pinMode(enablePin, OUTPUT);
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digitalWrite (enablePin, HIGH);
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// Put us in a known state
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pinMode(stepPin, OUTPUT);
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digitalWrite (stepPin, LOW);
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pinMode(directionPin, OUTPUT);
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digitalWrite (directionPin, LOW);
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Thread::usleep(responseDelay);
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}
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void A4988TurnTable::step()
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{
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digitalWrite(m_stepPin, LOW);
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Thread::usleep(m_responseDelay);
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digitalWrite(m_stepPin, HIGH);
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Thread::usleep(m_responseDelay);
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// Wait the step delay (this is how speed is controlled)
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Thread::usleep(m_stepDelay);
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}
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int A4988TurnTable::rotate(real theta)
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{
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// Get the percent of a full revolution that theta is and convert that to number of steps
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int numSteps = (theta / (2 * PI)) * m_stepsPerRevolution;
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// Step the required number of steps
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for (int i = 0; i < numSteps; i++)
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{
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step();
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}
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// Sleep the stability delay amount
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Thread::usleep(m_stabilityDelay);
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return numSteps;
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}
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void A4988TurnTable::setMotorEnabled(bool enabled)
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{
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int value = enabled ? LOW : HIGH;
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digitalWrite (m_enablePin, value);
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Thread::usleep(m_responseDelay);
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}
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}
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