68 lines
1.6 KiB
C++
68 lines
1.6 KiB
C++
#ifndef EndstopCameraShield_h
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#define EndstopCameraShield_h
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#include <Arduino.h>
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#include "TB6600MotorDriver.h"
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/**
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* Default pins
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* 2 Close Receiver Pin
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* 3 Open Receiver Pin
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* 4 Open Emitter Pin
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* 5 Close Emitter Pin
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**/
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class EndstopCameraShield {
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private:
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const uint8_t _receiverClosePin = 2;
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const uint8_t _receiverOpenPin = 3;
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const uint8_t _emitterOpenPin = 4;
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const uint8_t _emitterClosePin = 5;
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const uint8_t _motorEnablePin = 6;
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const uint8_t _motorDirectionPin = 7;
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const uint8_t _motorPulsePin = 8;
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const double _ledAngle = 7.0;
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volatile uint32_t _motorUsPulse = 300;
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volatile uint8_t _motorMicrosteps = 2; //half stepping
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volatile double _stepAngle = (double) 360 / ((double) 2 * (double) 200);
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TB6600MotorDriver _motor;
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static volatile bool _direction; //true = forward, false = backward
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static volatile bool _enabled;
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static volatile bool _isClosed;
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static volatile bool _isOpened;
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void _checkState();
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void _enableCloseInterrupt();
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void _enableOpenInterrupt();
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void _enableCloseEmitter();
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void _enableOpenEmitter();
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void _enableMotor();
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void _disableCloseInterrupt();
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void _disableOpenInterrupt();
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void _disableCloseEmitter();
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void _disableOpenEmitter();
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void _disableMotor();
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static void _handleCloseInterrupt();
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static void _handleOpenInterrupt();
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public:
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EndstopCameraShield(uint32_t usPulse, uint8_t microsteps);
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void setup();
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void loop();
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uint32_t frame();
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uint32_t toOpen();
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uint32_t toClose();
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void setDirection(bool direction);
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bool isOpened();
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bool isClosed();
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};
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#endif |