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cncontrol.cpp
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cncontrol.cpp
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/*
* cncontrol.cpp
*
* Created on: Dec 27, 2010
* Author: falmarri
*/
#include "cnccontrol.h"
int FAIL = -1;
/*
CncControl::CncControl(double x_sz, double y_sz, Motor* motorx, Motor* motory) :
x_size(x_sz), y_size(y_sz) {
this->X_STEPS_PER_INCH = 100;
this->Y_STEPS_PER_INCH = 100;
this->current_x = 0;
this->current_y = 0;
this->cutting = false;
if (motorx) {
this->motor_x = motorx;
} else {
this->motor_x = new Motor(2, 3);
}
if (motory) {
this->motor_y = motory;
}else{
this->motor_y = new Motor(4, 5);
}
}
*/
CncControl::CncControl(){
this->X_STEPS_PER_INCH = 100;
this->Y_STEPS_PER_INCH = 100;
this->current_x = 0;
this->current_y = 0;
this->cutting = false;
}
void CncControl::set_steps(int steps_x, int steps_y){
if (steps_x > 0){
this->X_STEPS_PER_INCH = steps_x;
}
if (steps_y > 0){
this->Y_STEPS_PER_INCH = steps_y;
}
}
void CncControl::set_size(double x_size, double y_size){
this->x_size = x_size;
this->y_size = y_size;
}
int CncControl::new_motors(int pin1x, int pin2x, int pin1y, int pin2y){
return this->motor_x.set_pins(pin1x, pin2x) | this->motor_y.set_pins(pin1y, pin2y);
}
const double& CncControl::move_X(double inches, int cut) {
for (int total = this->Y_STEPS_PER_INCH * abs(inches); total; --total) {
if ((!this->current_x && inches < 0) || (this->current_x
>= this->x_size && inches > 0)) {
//Serial.println("Motor x at limit");
return FAIL;
}
//Serial.println("X step");
this->motor_x.step((inches > 0 ? 1.0 : -1.0));
this->current_x += (inches > 0 ? 1.0 : -1.0) / this->X_STEPS_PER_INCH;
delay(10);
}
return this->current_x;
}
void CncControl::home(){
while (current_x > 0 && current_y > 0){
this->motor_x.step(-1);
this->motor_y.step(-1);
delay(10);
}
}
const double& CncControl::move_Y(double inches, int cut) {
for (int total = this->Y_STEPS_PER_INCH * abs(inches); total; --total) {
if ((!this->current_y && inches < 0) || (this->current_y
>= this->y_size && inches > 0)) {
//Serial.println("Motor y at limit");
return FAIL;
}
//Serial.println("Y");
this->motor_y.step((inches > 0 ? 1.0 : -1.0));
this->current_y += (inches > 0 ? 1.0 : -1.0) / this->Y_STEPS_PER_INCH;
delay(10);
}
return this->current_y;
}
void CncControl::arc(double endx, double endy, double radius) {
}
void CncControl::arc(double startx, double starty, double endx, double endy,
double radx, double rady, int dir) {
int sx = (startx - radx) * (this->X_STEPS_PER_INCH);
int sy = (starty - rady) * (this->Y_STEPS_PER_INCH);
int cx = sx;
int cy = sy;
double r2 = radx * radx + rady * rady;
int ex = (endx - radx) * (this->X_STEPS_PER_INCH);
int ey = (endy - rady) * (this->Y_STEPS_PER_INCH);
int incx = 1;
int incy = 1;
while (!((((cx > 0 && ex > 0) || (cx < 0 && ex < 0))
&& (((cy > 0 && ey > 0) || (cy < 0 && ey < 0))) && (((abs(cx)
> abs(cy)) && (abs(ex) > abs(ey))) || ((abs(cx) < abs(cy))
&& (abs(ex) < abs(ey))))) && ((abs(cx) > (abs(cy))) ? cx == ex : cy == ey))) {
if (cy > 0) {
incx = -1;
} else {
incx = 1;
}
if (cx > 0) {
incy = 1;
} else {
incy = -1;
}
if (abs(cx) > abs(cy)) {
}
if (abs(cx) < abs(cy)) {
}
}
}
void CncControl::arc(double startx, double starty, double endx, double endy,
double radius, int direction) {
double rx;
double ry;
int sx = startx * (this->X_STEPS_PER_INCH % 10 + 1);
int yx = startx * (this->Y_STEPS_PER_INCH % 10 + 1);
}
Motor::Motor(){
this->current_step=0;
}
int Motor::set_pins(int pin1, int pin2){
this->n_pins = 2;
if (pin1 < 8 && pin2 < 8) {
port = 'd';
} else if (pin1 > 7 && pin1 < 13 && pin2 > 7 && pin2 < 13) {
port = 'b';
}
mask = (1 << pin1 | 1 << pin2);
/**
* 01
* 11
* 10
* 00
*/
seq[0] = 1 << pin2;
seq[1] = 1 << pin1 | 1 << pin2;
seq[2] = 1 << pin1;
seq[3] = 0;
pinMode(pin1, OUTPUT);
pinMode(pin2, OUTPUT);
this->set_port();
return mask;
}
/**
* @param dir: Direction of motor. True = CW, False = CCW
*/
int Motor::step(int dir) {
if (dir < 0 && this->current_step <= 0) {
this->current_step = 0;
return -1;
}
if (dir > 0) {
++(this->current_step);
} else {
--(this->current_step);
}
this->set_port();
return this->current_step;
}
void Motor::set_port(){
if (port == 'd') {
byte p = PORTD;
p &= ~this->mask;
PORTD = p | seq[this->current_step % 4];
} else if (port == 'b') {
byte p = PORTB;
p &= ~this->mask;
PORTB = p | seq[this->current_step % 4];
}
}
int Motor::steps() {
return this->current_step;
}