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Stepper_Control.cpp
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Stepper_Control.cpp
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/**
Stepper_Control.cpp
Class used for holding, constructing, adminstering and "stitching" movements
@author sei
*/
#include "Stepper_Control.h"
Stepper_Control::Stepper_Control(Stepper* top_stepper, Stepper* bottom_stepper) {
this->top = top_stepper;
this->bottom = bottom_stepper;
this->idle_move = Movement();
this->move = &idle_move;
}
void Stepper_Control::linear_move(int steps_top, int steps_bottom) {
Vec start;
if (moves.size() <= 0) {
int ptop = this->top->get_pos();
int pbottom = this->bottom->get_pos();
start = Vec(float(ptop),float(pbottom));
} else {
Movement *first = moves.get_first();
start = first->stop;
}
Vec steps = Vec(float(steps_top), float(steps_bottom));
Vec stop = start+steps;
float stopv = V_MAX;
float startv = V_MIN;
float acc_time = ACCTIME;
float steps2acc = LinearMovement::calc_steps2acc(acc_time, startv, stopv);
//Serial.print("steps2acc: ");
//Serial.println(steps2acc);
LinearMovement *acc;
LinearMovement *cruise;
LinearMovement *decc;
Vec dir = stop - start;
dir.normalise_max();
/*if (dir.x > dir.y) {
dir.y = dir.y*(1/dir.x);
dir.x = 1.0;
} else if (dir.x > dir.y) {
dir.x = dir.x*(1/dir.y);
dir.y = 1.0;
} else {
dir.x = 1.0;
dir.y = 1.0;
}*/
Vec acc_steps = Vec(steps2acc*dir.x, steps2acc*dir.y);
acc = new LinearMovement(start, acc_time, acc_steps, startv, stopv);
//cruise = new LinearMovement(acc, 0.0, steps-acc_steps-acc_steps, stopv);
cruise = new LinearMovement(start+acc_steps, 0.0, steps-acc_steps-acc_steps, stopv, stopv);
//decc = new LinearMovement(cruise, acc_time, acc_steps, startv);
decc = new LinearMovement(stop-acc_steps, acc_time, acc_steps, stopv, startv);
moves.push(acc);
moves.push(cruise);
moves.push(decc);
check_move();
/*Movement *tmp;
for (int i = 0;i<moves.size();i++) {
tmp = moves.get(i);
Serial.print(i);
Serial.print(" id: ");
Serial.print(tmp->id);
Serial.print(" x0: ");
Serial.print(tmp->start.x);
Serial.print(" x1: ");
Serial.print(tmp->stop.x);
Serial.print(" v0: ");
Serial.print(tmp->startv);
Serial.print(" v1: ");
Serial.println(tmp->stopv);
}*/
}
void Stepper_Control::cruise(int steps_top, int steps_bottom) {
int ptop = this->top->get_pos();
int pbottom = this->bottom->get_pos();
Vec start;
float v;
if (moves.size() <= 0) {
start = Vec(float(ptop),float(pbottom));
v = V_MIN;
} else {
Movement *first = moves.get_first();
start = first->stop;
v = first->stopv;
}
Vec steps = Vec(float(steps_top), float(steps_bottom));
LinearMovement *cruise;
cruise = new LinearMovement(start, 0.0, steps, v, v);
moves.push(cruise);
check_move();
}
void Stepper_Control::x_callback() {
float x_pos = float(this->top->get_pos());
float y_pos = float(this->bottom->get_pos());
if (!move->at_target(x_pos, y_pos)) {
if (move->dir.x > 0.0) top->step();
PITimer1.period(move->calcdtx());
//Serial.println( (move->dt.x-move->t0)*1000 );
} else {
check_move();
}
}
void Stepper_Control::y_callback() {
float x_pos = float(this->top->get_pos());
float y_pos = float(this->bottom->get_pos());
if (!move->at_target(x_pos, y_pos)) {
if (move->dir.y > 0.0) bottom->step();
PITimer2.period(move->calcdty());
} else {
check_move();
}
}
inline void Stepper_Control::check_move() {
if (moves.size() > 0) {
//Serial.println("checked");
Movement *next = moves.pop();
move = next;
float t = mus/1000000.0;
move->init(t);
PITimer1.period(move->calcdtx());
PITimer2.period(move->calcdty());
PITimer1.start();
PITimer2.start();
} else {
PITimer1.stop();
PITimer2.stop();
move = &idle_move;
}
}