mcopy/ino/mcopy_projector_firmware/McopyProjector.h

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#ifndef MCOPY_PROJECTOR
#define MCOPY_PROJECTOR
#include <Arduino.h>
#include <AccelStepper.h>
#include <Servo.h>
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/**
* D2 X Step
* D3 X Direction
* D4 X MS1 setting
* D5 X MS2 setting
* D6 Y Step
* D7 Y Direction
* D8 Y MS1 setting
* D9 Y MS2 setting
*
* MS1(X/Y) MS2(X/Y) Description
* L L Full step
* H L Half step
* L H Quarter step
* H H Eighth STEP
**/
class McopyProjector {
private:
AccelStepper _takeup;
AccelStepper _feed;
Servo _servo;
const uint16_t _motorSteps = 200; //full steps
const uint8_t _frames = 8;
const uint16_t _stepsPerFrame = 25; //round(_motorSteps / _frames);
const float _speed = 2000.0;
const uint8_t _servoHome = 90;
const uint8_t _servoAway = 60;
volatile uint8_t _mode = 1;
int64_t _posTakeup = 0;
int64_t _posFeed = 0;
//Y
uint8_t _takeupSettingA;
uint8_t _takeupSettingB;
//X
uint8_t _feedSettingA;
uint8_t _feedSettingB;
//Y
uint8_t _takeupEmitter;
uint8_t _takeupReceiver;
//X
uint8_t _feedEmitter;
uint8_t _feedReceiver;
uint8_t _servoPin;
long _feedSamples[200];
long _takeupSamples[200];
bool _dir = true;
bool _running = false;
bool _adjusting = false;
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long readVcc();
long analogReadAccurate (uint8_t &pin);
long analogReadAccurateAverage (uint8_t &pin);
uint16_t findPeak(long (&arr)[200], uint16_t &steps);
void emitters(bool enabled);
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public:
McopyProjector(AccelStepper takeup, AccelStepper feed,
uint8_t takeupSettingA, uint8_t takeupSettingB,
uint8_t feedSettingA, uint8_t feedSettingB,
uint8_t takeupEmitter, uint8_t takeupReceiver,
uint8_t feedEmitter, uint8_t feedReceiver,
uint8_t servoPin);
void begin();
//0 = takeup, 1 = feed
void adjust(uint8_t motor, int64_t steps);
void adjustBoth(int64_t steps);
//true = forward, false = back
void frame(bool dir);
void setDirection(bool dir);
void setStepperMode(uint8_t mode);
void loop();
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void home();
void firstPass();
void centerPass();
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};
#endif