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Corwin Perren
b300c76103
These are all design documents that I thought I had lost. It's may make me cringe, but it's still cool to use it to see how far I've come.
92 lines
1.4 KiB
C++
92 lines
1.4 KiB
C++
#include "AxisClass.h"
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#include <Arduino.h>
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extern const unsigned char Microstep[6][3];
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Axis::Axis (unsigned char AxisStep, unsigned char AxisDir, unsigned char AxisM0, unsigned char AxisM1, unsigned char AxisM2, unsigned char AxisFault){
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p_Step = AxisStep;
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p_Dir = AxisDir;
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p_M0 = AxisM0;
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p_M1 = AxisM1;
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p_M2 = AxisM2;
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p_Fault = AxisFault;
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DelVal = 8;
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pinMode(p_Step, OUTPUT);
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pinMode(p_Dir, OUTPUT);
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pinMode(p_M0, OUTPUT);
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pinMode(p_M1, OUTPUT);
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pinMode(p_M2, OUTPUT);
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pinMode(p_Fault, INPUT);
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SetMicrostep(8);
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}
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void Axis::SetMicrostep(unsigned char Level){
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unsigned char row = -1;
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switch (Level){
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case 1:
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row = 0;
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break;
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case 2:
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row = 1;
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break;
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case 4:
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row = 2;
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break;
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case 8:
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row = 3;
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break;
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case 16:
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row = 4;
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break;
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case 32:
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row = 5;
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break;
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}
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digitalWrite(p_M0, Microstep[row][0]);
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digitalWrite(p_M1, Microstep[row][1]);
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digitalWrite(p_M2, Microstep[row][2]);
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}
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void Axis::StepForward(){
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digitalWrite(p_Dir, HIGH);
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digitalWrite(p_Step, HIGH);
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digitalWrite(p_Step, LOW);
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}
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void Axis::StepBackward(){
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digitalWrite(p_Dir, LOW);
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digitalWrite(p_Step, HIGH);
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digitalWrite(p_Step, LOW);
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}
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int Axis::SetRPM(int RPM){
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int CountVal = ((16000000L/8)/((200L*8*RPM)/60));
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cli();
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OCR1A = CountVal;
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sei();
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return CountVal;
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}
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void Axis::SetDelay(unsigned int delLen){
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DelVal = delLen;
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}
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