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motors.cpp
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#include "motors.h"
MotorsClass::MotorsClass(int poudre_type, int poudre_dir, int poudre_step,
int chariot_type, int chariot_dir, int chariot_step,
int lit_type, int lit_dir, int lit_step) : m_poudre_step_mm(0), m_chariot_step_mm(0), m_lit_step_mm(0),
m_poudre_motor(poudre_type, poudre_step, poudre_dir),
m_chariot_motor(chariot_type, chariot_step, chariot_dir),
m_lit_motor(lit_type, lit_step, lit_dir)
{
}
void MotorsClass::set_poudre_step_mm(int step_mm)
{
m_poudre_step_mm = step_mm;
/*Serial.print("poudre step: ");
Serial.println(step_mm);*/
}
void MotorsClass::set_chariot_step_mm(int step_mm)
{
m_chariot_step_mm = step_mm;
/*Serial.print("chariot step: ");
Serial.println(step_mm);*/
}
void MotorsClass::set_lit_step_mm(int step_mm)
{
m_lit_step_mm = step_mm;
/*Serial.print("lit step: ");
Serial.println(step_mm);*/
}
void MotorsClass::set_poudre_position(int position)
{
m_poudre_motor.moveTo(position * m_poudre_step_mm);
}
void MotorsClass::set_chariot_position(int position)
{
m_chariot_motor.moveTo(position * m_chariot_step_mm);
}
void MotorsClass::set_lit_position(int position)
{
m_lit_motor.moveTo(position * m_lit_step_mm);
}
void MotorsClass::move_poudre(float mm, bool absolute/* = false*/)
{
if (!absolute) {
m_poudre_motor.runToNewPosition(m_poudre_motor.currentPosition() + ((round(mm)) * m_poudre_step_mm));
}
else {
m_poudre_motor.runToNewPosition(round(mm) * m_poudre_step_mm);
}
}
void MotorsClass::move_chariot(float mm, bool absolute/* = false*/)
{
if (!absolute) {
m_chariot_motor.runToNewPosition(m_chariot_motor.currentPosition() + ((round(mm)) * m_chariot_step_mm));
}
else {
m_chariot_motor.runToNewPosition(round(mm) * m_chariot_step_mm);
}
}
void MotorsClass::move_lit(float mm, bool absolute/* = false*/)
{
if (!absolute) {
m_lit_motor.runToNewPosition(m_lit_motor.currentPosition() + ((round(mm) * m_lit_step_mm)));
}
else {
m_lit_motor.runToNewPosition(round(mm) * m_lit_step_mm);
}
}
void MotorsClass::set_poudre_speed(int speed)
{
m_poudre_motor.setMaxSpeed(speed * m_poudre_step_mm);
m_poudre_motor.setSpeed(speed * m_poudre_step_mm);
}
void MotorsClass::set_chariot_speed(int speed)
{
m_chariot_motor.setMaxSpeed(speed * m_chariot_step_mm);
m_chariot_motor.setSpeed(speed * m_chariot_step_mm);
}
void MotorsClass::set_lit_speed(int speed)
{
m_lit_motor.setMaxSpeed(speed * m_lit_step_mm);
m_lit_motor.setSpeed(speed * m_lit_step_mm);
/*Serial.println("Speed total: " + String(speed * m_lit_step_mm));
Serial.println("step per mm: " + String(m_lit_step_mm));
Serial.println("Speed: " + String(speed));*/
}
void MotorsClass::set_poudre_acceleration(int acceleration)
{
m_poudre_motor.setAcceleration(acceleration * m_poudre_step_mm);
}
void MotorsClass::set_chariot_acceleration(int acceleration)
{
m_chariot_motor.setAcceleration(acceleration * m_chariot_step_mm);
}
void MotorsClass::set_lit_acceleration(int acceleration)
{
m_lit_motor.setAcceleration(acceleration * m_lit_step_mm);
}
void MotorsClass::go_home()
{
m_poudre_motor.runToNewPosition(0);
m_chariot_motor.runToNewPosition(0);
m_lit_motor.runToNewPosition(0);
}
int MotorsClass::get_poudre_position()
{
return m_poudre_motor.currentPosition() / m_poudre_step_mm;
}
int MotorsClass::get_chariot_position()
{
return m_chariot_motor.currentPosition() / m_chariot_step_mm;
}
int MotorsClass::get_lit_position()
{
return m_lit_motor.currentPosition() / m_lit_step_mm;
}
bool MotorsClass::run()
{
if (m_poudre_motor.distanceToGo() == 0 &&
m_chariot_motor.distanceToGo() == 0 &&
m_lit_motor.distanceToGo() == 0) return false;
m_poudre_motor.run();
m_chariot_motor.run();
m_lit_motor.run();
return true;
}