62 lines
1.2 KiB
C++
62 lines
1.2 KiB
C++
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/// Mcopy Projector Class
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#include "McopyProjector.h"
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#include "IteadDualStepperShield.h"
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McopyProjector::McopyProjector () {
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}
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void McopyProjector::begin () {
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steppers.setup();
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steppers.setSpeed(0, _speed);
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steppers.setSpeed(1, _speed);
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}
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void McopyProjector::setDirection (bool dir) {
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_dir = dir;
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if (_dir) {
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steppers.setDir(0, 1);
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steppers.setDir(1, 1);
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} else {
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steppers.setDir(0, 0);
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steppers.setDir(1, 0);
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}
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}
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void McopyProjector::frame (bool dir) {
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if (dir != _dir) {
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setDirection(dir);
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}
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steppers.stepBoth(_stepsPerFrame);
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_posTakeup += dir ? _stepsPerFrame : -_stepsPerFrame;
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_posFeed += dir ? _stepsPerFrame : -_stepsPerFrame;
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}
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void McopyProjector::adjust(uint8_t motor, int32_t steps) {
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if (steps < 0) {
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steppers.setDir(motor, 0);
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} else {
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steppers.setDir(motor, 1);
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}
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steppers.step(motor, abs(steps));
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if (motor == 0) {
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_posTakeup += steps;
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} else if (motor == 1) {
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_posFeed += steps;
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}
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}
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void McopyProjector::adjustBoth(int32_t steps) {
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if (steps < 0) {
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steppers.setDir(0, 0);
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steppers.setDir(1, 0);
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} else {
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steppers.setDir(0, 1);
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steppers.setDir(1, 1);
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}
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steppers.stepBoth(abs(steps));
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_posTakeup += steps;
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_posFeed += steps;
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}
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