mirror of
https://github.com/caperren/school_archives.git
synced 2025-11-09 13:41:13 +00:00
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.
74 lines
1.1 KiB
C
74 lines
1.1 KiB
C
/*
|
|
* Steppers.h
|
|
*
|
|
* Created: 8/9/2014 1:10:58 PM
|
|
* Author: corwin
|
|
*/
|
|
|
|
|
|
#ifndef STEPPERS_H_
|
|
#define STEPPERS_H_
|
|
|
|
#define F_CPU 32000000UL
|
|
|
|
#include <avr/io.h>
|
|
#include <util/delay.h>
|
|
|
|
#include "DefinesAndMacros.h"
|
|
|
|
#define XLEFT 0
|
|
#define XRIGHT 1
|
|
#define YFORWARDS 1
|
|
#define YBACKWARDS 0
|
|
#define ZUP 0
|
|
#define ZDOWN 1
|
|
|
|
#define XSTEPPERMM 250
|
|
#define YSTEPERMM 250
|
|
#define ZSTEPPERMM 323
|
|
#define ASTEPPERMM 250 //Needs to be found
|
|
|
|
typedef struct Axes{
|
|
PORT_t *dirPort;
|
|
int dirPin;
|
|
|
|
PORT_t *stepPort;
|
|
int stepPin;
|
|
|
|
char directionReversed;
|
|
char inManualMode;
|
|
|
|
int stepsPerMM;
|
|
double mmFromZero;
|
|
double acceptableError;
|
|
|
|
volatile long long steps;
|
|
volatile double desiredPosition;
|
|
|
|
volatile char shouldMove;
|
|
|
|
}Axes_t;
|
|
|
|
Axes_t XAxis;
|
|
Axes_t YAxis;
|
|
Axes_t ZAxis;
|
|
Axes_t AAxis;
|
|
|
|
char steppersEnabled;
|
|
|
|
void enableSteppers();
|
|
void disableSteppers();
|
|
|
|
void calibrateAllSteppers();
|
|
void homeAllSteppers();
|
|
|
|
void homeXStepper();
|
|
void homeYStepper();
|
|
void homeZStepper();
|
|
void homeAStepper();
|
|
|
|
double getAxisPosition(Axes_t *axis);
|
|
|
|
void setStepsOffset(Axes_t *axis);
|
|
|
|
#endif /* STEPPERS_H_ */ |