mcopy/ino/mcopy_projector_firmware/McopyProjector.cpp

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/// Mcopy Projector Class
#include "McopyProjector.h"
#include "IteadDualStepperShield.h"
McopyProjector::McopyProjector () {
}
void McopyProjector::begin () {
steppers.setup();
steppers.setSpeed(0, _speed);
steppers.setSpeed(1, _speed);
}
void McopyProjector::setDirection (bool dir) {
_dir = dir;
if (_dir) {
steppers.setDir(0, FORWARD);
steppers.setDir(1, FORWARD);
} else {
steppers.setDir(0, BACKWARD);
steppers.setDir(1, BACKWARD);
}
}
void McopyProjector::frame (bool dir) {
if (dir != _dir) {
setDirection(dir);
}
steppers.step(FEED, _stepsPerFrame, _dir ? FORWARD : BACKWARD);
_posTakeup += dir ? _stepsPerFrame : -_stepsPerFrame;
_posFeed += dir ? _stepsPerFrame : -_stepsPerFrame;
}
void McopyProjector::adjust(uint8_t motor, int64_t steps) {
uint64_t s = abs(steps);
if (steps < 0) {
steppers.setDir(motor, BACKWARD);
} else {
steppers.setDir(motor, FORWARD);
}
steppers.step(motor, s, _dir ? FORWARD : BACKWARD);
if (motor == 0) {
_posTakeup += steps;
} else if (motor == 1) {
_posFeed += steps;
}
//restore set direction after adjustment
steppers.setDir(motor, _dir ? FORWARD : BACKWARD);
}
void McopyProjector::adjustBoth(int64_t steps) {
uint64_t s = abs(steps);
if (steps < 0) {
steppers.setDir(TAKEUP, BACKWARD);
steppers.setDir(FEED, BACKWARD);
} else {
steppers.setDir(TAKEUP, FORWARD);
steppers.setDir(FEED, FORWARD);
}
steppers.stepBoth(s);
_posTakeup += steps;
_posFeed += steps;
//restore set direction after adjustment
steppers.setDir(TAKEUP, _dir ? FORWARD : BACKWARD);
steppers.setDir(FEED, _dir ? FORWARD : BACKWARD);
}
void McopyProjector::frames(bool dir, uint64_t count) {
}