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/*
CartesianBot.h - RepRap Cartesian Bot library for Arduino
This library is used to interface with a RepRap Cartesian Bot (3 axis X/Y/Z machine)
Memory Usage Estimate: 8 + 12 * POINT_QUEUE_SIZE + 3 * LinearAxis usage.
History:
* (0.1) Ceated initial library by Zach Smith.
* (0.2) Optimized for smaller size and speed by Zach Smith.
* (0.3) Rewrote and refactored all code. Fixed major interrupt bug by Zach Smith. Special thanks to Marius Kintel for finding the bug.
License: GPL v2.0
*/
// ensure this library description is only included once
#ifndef CartesianBot_h
#define CartesianBot_h
//#include "HardwareSerial.h"
#include "LinearAxis.h"
#include "RepStepper.h"
#include "WConstants.h"
// how big do we want our point queue?
#define POINT_QUEUE_SIZE 31
// our point structure to make things nice.
struct Point {
int x;
int y;
int z;
unsigned char speed;
unsigned char control;
};
// library interface description
class CartesianBot {
public:
// constructors:
CartesianBot(
char x_id, int x_steps, byte x_dir_pin, byte x_step_pin, byte x_min_pin, byte x_max_pin, byte x_enable_pin,
char y_id, int y_steps, byte y_dir_pin, byte y_step_pin, byte y_min_pin, byte y_max_pin, byte y_enable_pin,
char z_id, int z_steps, byte z_dir_pin, byte z_step_pin, byte z_min_pin, byte z_max_pin, byte z_enable_pin
);
// our queue stuff
bool queuePoint(Point &point);
struct Point unqueuePoint();
void clearQueue();
byte getQueueSize();
bool isQueueEmpty();
bool isQueueFull();
//cartesian bot specific.
void setTargetPoint(Point &point);
void setCurrentPoint(Point &point);
void getNextPoint();
void calculateDDA();
bool atTarget() {
return ((x.current == x.target) &&
(y.current == y.target) &&
(z.current == z.target));
}
bool atHome() {
return (x.atMin() && y.atMin() && z.atMin());
}
//our interface methods
void readState() {
x.readState();
y.readState();
z.readState();
}
//our timer interrupt interface functions.
void setupTimerInterrupt();
void enableTimerInterrupt() {
//reset our timer to 0 for reliable timing TODO: is this needed?
//TCNT1 = 0;
//then enable our interrupt!
TIMSK1 |= (1<<OCIE1A);
}
void disableTimerInterrupt() {
TIMSK1 &= ~(1<<OCIE1A);
}
void setTimer(unsigned long delay);
void setTimerResolution(byte r);
void setTimerCeiling(unsigned int c) {
OCR1A = c;
}
byte getTimerResolution(unsigned long delay);
unsigned int getTimerCeiling(unsigned long delay);
//our variables
LinearAxis x;
LinearAxis y;
LinearAxis z;
//for DDA stuff.
int max_delta;
//this is the mode we're currently in... started/stopped
byte mode;
private:
//this is for our queue of points.
byte head;
byte tail;
byte size;
Point point_queue[POINT_QUEUE_SIZE]; // +1 for luck... AB
};
inline byte CartesianBot::getQueueSize()
{
return this->size;
}
inline bool CartesianBot::isQueueEmpty()
{
return (this->size == 0);
}
inline bool CartesianBot::isQueueFull()
{
return (this->size == POINT_QUEUE_SIZE);
}
#endif
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