83 lines
1.6 KiB
C++
83 lines
1.6 KiB
C++
/// Mcopy Projector Class
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#include "McopyProjector.h"
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McopyProjector::McopyProjector (AccelStepper takeup, AccelStepper feed) {
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_takeup = takeup;
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_feed = feed;
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}
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void McopyProjector::begin () {
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_takeup.setMaxSpeed(_speed);
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_takeup.setSpeed(_speed);
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_takeup.setAcceleration(1000.0);
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_feed.setMaxSpeed(_speed);
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_feed.setSpeed(_speed);
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_feed.setAcceleration(1000.0);
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}
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void McopyProjector::setDirection (bool dir) {
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_dir = dir;
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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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int64_t takeupGoal = _takeup.currentPosition();
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int64_t feedGoal = _feed.currentPosition();
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takeupGoal += _dir ? _stepsPerFrame : -_stepsPerFrame;
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feedGoal += _dir ? _stepsPerFrame : -_stepsPerFrame;
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_takeup.moveTo(takeupGoal);
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_feed.moveTo(feedGoal);
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_running = true;
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}
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void McopyProjector::adjust(uint8_t motor, int64_t steps) {
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uint64_t s = abs(steps);
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//moveTo
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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 (int64_t steps) {
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uint64_t s = abs(steps);
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//steppers.stepBoth(s);
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_posTakeup += steps;
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_posFeed += steps;
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}
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void McopyProjector::loop () {
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if (_running) {
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if (_takeup.distanceToGo() == 0 && _feed.distanceToGo() == 0) {
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//frame done
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_running = false;
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_posTakeup += _dir ? _stepsPerFrame : -_stepsPerFrame;
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_posFeed += _dir ? _stepsPerFrame : -_stepsPerFrame;
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} else {
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_takeup.run();
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_feed.run();
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}
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} else if (_adjusting) {
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if (_takeup.distanceToGo() == 0 && _feed.distanceToGo() == 0) {
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//adjustment done
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_adjusting = false;
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} else {
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_takeup.run();
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_feed.run();
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}
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}
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}
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