style: fix missing formatting

.gitignore

@@ -0,0 +1 @@
+.clangd

README.md

@@ -16,6 +16,35 @@ Compile through Arduino IDE or equivalent.
 > Add [kissStepper](https://github.com/risitt/kissStepper) to your project
 > librairies.
 
+## Development
+
+Required dependeinces if not using
+[Arduino IDE](https://www.arduino.cc/en/software/):
+
+- [Arduino CLI](https://docs.arduino.cc/arduino-cli/):
+  - Install:
+    ```sh
+    # linux
+    curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | sh
+
+    # macos
+    brew update
+    brew install arduino-cli
+
+    # windows
+    winget install --id=ArduinoSA.CLI  -e
+    ```
+  - Configure:
+    ```sh
+    arduino-cli config init
+    arduino-cli core update-index
+    arduino-cli core install arduino:avr
+    ```
+
+If you use `clangd` as lsp run `python ./generate_clangd.py` to load arduino
+config and libraries.
+
 ## Contributing
 
-Before `git commit`, run `git clang-format` to format stagged files.
+Before `git commit`, run `git clang-format --staged` to format stagged files and
+then `git add` to commit formatting.

config.h

@@ -26,4 +26,13 @@
 
 #define PIN_LASER (PIN_PD2)
 
+// Magic numbers
+#define STEP_RATIO_X (7020)
+#define STEP_RATIO_Y (7020)
+
+// Offset [cm]
+#define OFFSET_X (0)
+#define OFFSET_Y (21)
+#define OFFSET_Z (166)
+
 #endif

generate_clangd.py

@@ -0,0 +1,48 @@
+#!/usr/bin/env python3
+
+import os
+import platform
+import yaml
+
+def write_clangd_file(flags):
+    clangd_config = {
+        "CompileFlags": {
+            "Add": flags
+        }
+    }
+
+    with open(".clangd", "w") as f:
+        yaml.dump(clangd_config, f, default_flow_style=False)
+
+def main():
+    arduino_base_path = os.path.expanduser("~/AppData/Local") if platform.system() == "Windows" else os.path.expanduser('~')
+    
+    flags = [
+        "-x", "c++",
+        "-std=gnu++11",
+        "-fpermissive",
+        "-fno-exceptions",
+        "-ffunction-sections",
+        "-fdata-sections",
+        "-fno-threadsafe-statics",
+        "-Wno-error=narrowing",
+        "-flto",
+        "-E",
+        "-CC",
+        "-D__AVR__",
+        "-D__AVR_ATmega328P__",
+        "-DF_CPU=16000000L",
+        "-DARDUINO=10607",
+        "-DARDUINO_AVR_UNO",
+        "-DARDUINO_ARCH_AVR",
+        "-I./include",
+        f"-I{arduino_base_path}/Arduino15/packages/arduino/hardware/avr/1.8.6/cores/arduino",
+        f"-I{arduino_base_path}/Arduino15/packages/arduino/hardware/avr/1.8.6/variants/standard",
+        f"-I{arduino_base_path}/Arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/avr/include",
+        f"-I{arduino_base_path}/Arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/lib/gcc/avr/7.3.0/include",
+    ]
+    
+    write_clangd_file(flags)
+
+if __name__ == "__main__":
+    main()

include/kissStepper.h

@@ -0,0 +1,312 @@
+/*
+kissStepper - a lightweight library for the Easy Driver, Big Easy Driver, Allegro stepper motor drivers and others that use a Step/Dir interface
+Written by Rylee Isitt. September 21, 2015
+License: GNU Lesser General Public License (LGPL) V2.1
+
+Despite the existence of several excellent libraries for driving stepper motors, I created this one to fulfill the following needs:
+- Simplicity
+- Handling of enable, step, and dir pins
+- Based around an external loop
+- Approximately linear acceleration using a fast algorithm
+- High step frequency (or reasonably so, given the overhead involved)
+- Use AVR/ARM libraries and port access to increase performance while keeping the API Arduino-friendly
+- Teensy (Teensyduino) compatibility
+
+Acceleration approximation math is based on Aryeh Eiderman's "Real Time Stepper Motor Linear Ramping Just by Addition and Multiplication", available at http://hwml.com/LeibRamp.pdf
+*/
+
+#ifndef kissStepper_H
+#define kissStepper_H
+
+#include <Arduino.h>
+
+// determine port register size
+#if defined(__AVR__) || defined(__avr__)
+	typedef uint8_t regint;
+#elif defined(TEENSYDUINO)
+	#if defined(__AVR_ATmega32U4__) || defined(__AVR_AT90USB1286__) || defined(__MK20DX128__) || defined(__MK20DX256__) || defined(__MKL26Z64__) || defined(__MK64FX512__) || defined(__MK66FX1M0__)
+		typedef uint8_t regint;
+	#else
+		typedef uint32_t regint;
+	#endif
+#else
+	typedef uint32_t regint;
+#endif
+
+
+// the order of enums allows some simple tests:
+// if > STATE_STARTING, motor is in motion
+// if > STATE_RUN, motor is accelerating or decelerating
+enum kissState_t: uint8_t
+{
+    STATE_STOPPED = 0,
+    STATE_STARTING = 1,
+    STATE_RUN = 2,
+    STATE_ACCEL = 3,
+    STATE_DECEL = 4
+};
+
+// ----------------------------------------------------------------------------------------------------
+// ----------------------------------------------------------------------------------------------------
+// ----------------------------------------------------------------------------------------------------
+// kissStepper without acceleration
+// ----------------------------------------------------------------------------------------------------
+// ----------------------------------------------------------------------------------------------------
+// ----------------------------------------------------------------------------------------------------
+
+class kissStepperNoAccel
+{
+public:
+    kissStepperNoAccel(uint8_t PIN_DIR, uint8_t PIN_STEP, uint8_t PIN_ENABLE = 255, bool invertDir = false);
+    kissStepperNoAccel(uint8_t PIN_DIR, uint8_t PIN_STEP, bool invertDir = false);
+    ~kissStepperNoAccel(void) {};
+
+    bool prepareMove(int32_t target);
+    kissState_t move(void);
+    void stop(void);
+
+    uint16_t getCurSpeed(void)
+    {
+        if (m_kissState == STATE_RUN)
+            return m_maxSpeed;
+        else
+            return 0;
+    }
+    kissState_t getState(void)
+    {
+        return m_kissState;
+    }
+    int32_t getPos(void)
+    {
+        if (m_forwards)
+            return m_pos + m_distMoved;
+        else
+            return m_pos - m_distMoved;
+    }
+    bool isEnabled(void)
+    {
+        return m_enabled;
+    }
+    bool isMovingForwards(void)
+    {
+        return m_forwards;
+    }
+    void begin(void);
+    void enable(void);
+    void disable(void);
+
+    void setPos(int32_t pos)
+    {
+        if (m_kissState == STATE_STOPPED)
+            m_pos = constrain(pos, m_reverseLimit, m_forwardLimit);
+    }
+    int32_t getTarget(void)
+    {
+        if (m_kissState == STATE_STOPPED)
+            return m_pos;
+        else if (m_forwards)
+            return m_pos + m_distTotal;
+        else
+            return m_pos - m_distTotal;
+    }
+    uint32_t getDistRemaining(void)
+    {
+        return m_distTotal - m_distMoved;
+    }
+    void setForwardLimit(int32_t forwardLimit)
+    {
+        m_forwardLimit = forwardLimit;
+    }
+    void setReverseLimit(int32_t reverseLimit)
+    {
+        m_reverseLimit = reverseLimit;
+    }
+    int32_t getForwardLimit(void)
+    {
+        return m_forwardLimit;
+    }
+    int32_t getReverseLimit(void)
+    {
+        return m_reverseLimit;
+    }
+    void setMaxSpeed(uint16_t maxSpeed)
+    {
+        if (m_kissState == STATE_STOPPED) m_maxSpeed = maxSpeed;
+    }
+    uint16_t getMaxSpeed(void)
+    {
+        return m_maxSpeed;
+    }
+
+protected:
+    void setDir(bool forwards)
+    {
+        m_forwards = forwards;
+        digitalWrite(PIN_DIR, forwards == m_invertDir);
+    }
+    void updatePos(void)
+    {
+        if (m_forwards)
+            m_pos += m_distMoved;
+        else
+            m_pos -= m_distMoved;
+        m_distMoved = 0;
+    }
+    static const uint32_t ONE_SECOND = 1000000UL;
+    static const uint8_t PULSE_WIDTH_US = 2; // desired width of step pulse (high) in us
+    static const int32_t DEFAULT_FORWARD_LIMIT = 2147483647L;
+    static const int32_t DEFAULT_REVERSE_LIMIT = -2147483648L;
+    static const uint16_t DEFAULT_SPEED = 1600;
+    static const uint16_t INTERVAL_CORRECTION_INCREMENT = 255;
+
+    int32_t m_forwardLimit;
+    int32_t m_reverseLimit;
+    uint16_t m_maxSpeed;
+
+    const uint8_t PIN_DIR;
+    const uint8_t PIN_STEP;
+    const uint8_t PIN_ENABLE;
+
+    kissState_t m_kissState;
+    uint32_t m_distTotal, m_distMoved;
+    bool m_forwards;
+    int32_t m_pos;
+
+	const regint m_stepBit;
+    regint volatile * const m_stepOut;
+	
+    uint32_t m_stepIntervalWhole;
+    uint16_t m_stepIntervalRemainder;
+    uint16_t m_stepIntervalCorrectionCounter;
+    bool m_enabled;
+    uint32_t m_lastStepTime;
+    bool m_invertDir;
+    bool m_init;
+};
+
+// ----------------------------------------------------------------------------------------------------
+// ----------------------------------------------------------------------------------------------------
+// ----------------------------------------------------------------------------------------------------
+// kissStepper WITH acceleration
+// ----------------------------------------------------------------------------------------------------
+// ----------------------------------------------------------------------------------------------------
+// ----------------------------------------------------------------------------------------------------
+
+class kissStepper: public kissStepperNoAccel
+{
+public:
+    kissStepper(uint8_t PIN_DIR, uint8_t PIN_STEP, uint8_t PIN_ENABLE = 255, bool invertDir = false);
+    kissStepper(uint8_t PIN_DIR, uint8_t PIN_STEP, bool invertDir = false);
+    ~kissStepper(void) {};
+    bool prepareMove(int32_t target);
+    kissState_t move(void);
+    void stop(void);
+    
+    uint16_t getCurSpeed(void)
+    {
+        if (m_kissState == STATE_RUN)
+            return m_maxSpeed;
+        else if (m_kissState > STATE_STARTING)
+        {
+            uint32_t curSpeed = ONE_SECOND / m_stepIntervalWhole;
+            if (curSpeed > m_maxSpeed) curSpeed = m_maxSpeed;
+            return curSpeed;
+        }
+        else
+            return 0;
+    }
+    
+    void decelerate(void);
+    uint32_t calcMaxAccelDist(void)
+    {
+        if (m_accel > 0)
+            return ((uint32_t)m_maxSpeed * m_maxSpeed) / (2UL * m_accel);
+        else
+            return 0;
+    }
+    uint32_t getAccelDist(void)
+    {
+        return m_distAccel;
+    }
+    uint32_t getRunDist(void)
+    {
+        return m_distRun - m_distAccel;
+    }
+    uint32_t getDecelDist(void)
+    {
+        return m_distTotal - m_distRun;
+    }
+    void setAccel(uint16_t accel)
+    {
+        if (m_kissState == STATE_STOPPED) m_accel = accel;
+    }
+    uint16_t getAccel(void)
+    {
+        return m_accel;
+    }
+    uint16_t getTopSpeed(void);
+
+protected:
+
+    static const uint16_t DEFAULT_ACCEL = 1600;
+    uint32_t m_distAccel, m_distRun;
+    uint32_t m_topSpeedStepInterval;
+    uint32_t m_minSpeedStepInterval;
+    float m_stepInterval;
+    float m_constMult;
+    uint16_t m_accel;
+
+private:
+
+    /*
+       ----------------------------------------------------------------------------------------------------
+
+           To strike a balance between accuracy and performance, this library uses a set of approximations
+           for calculating stepInterval when accelerating/decelerating. Although this does use floating point
+           math, it is a drastic improvement over exact calculations and better than anything else I've tried.
+
+           There is probably room for further improvement (fixed point or integer math?) but this is good enough.
+
+           exact:
+               stepInterval = ONE_SECOND / newSpeed
+               curSpeed = ONE_SECOND / stepInterval
+               newSpeed = sqrt(curSpeed^2 + 2a)
+               stepInterval = ONE_SECOND / sqrt(curSpeed^2 + 2a)
+
+           approximations:
+               constMult = accel / (ONE_SECOND * ONE_SECOND)
+               q = constMult*stepInterval*stepInterval
+               set q to negative if accelerating
+
+               good precision, fast: stepInterval *= 1.0 + q
+               better precision, slower: stepInterval *= 1.0 + q + q*q
+               best precision, slowest: stepInterval *= 1.0 + q + 1.5*q*q
+
+       ----------------------------------------------------------------------------------------------------
+       */
+
+    float accelStep(float stepInterval, float constMult)
+    {
+        float newStepInterval;
+        float q = -constMult*stepInterval*stepInterval;
+        newStepInterval = stepInterval * (1.0 + q);
+        // newStepInterval = stepInterval * (1.0 + q + q*q); // better accuracy
+        // newStepInterval = stepInterval * (1.0 + q + 1.5*q*q); // best accuracy
+        if (newStepInterval < m_topSpeedStepInterval) newStepInterval = m_topSpeedStepInterval;
+        return newStepInterval;
+    }
+
+    float decelStep(float stepInterval, float constMult)
+    {
+        float newStepInterval;
+        float q = constMult*stepInterval*stepInterval;
+        newStepInterval = stepInterval * (1.0 + q);
+        // newStepInterval = stepInterval * (1.0 + q + q*q); // better accuracy
+        // newStepInterval = stepInterval * (1.0 + q + 1.5*q*q); // best accuracy
+        if (newStepInterval > m_minSpeedStepInterval) newStepInterval = m_minSpeedStepInterval;
+        return newStepInterval;
+    }
+
+};
+
+#endif

maths.cpp

@@ -1,33 +1,26 @@
 #include "math.h"
+#include "turret.h"
 
 double degToRad(double deg) { return deg * M_PI / 180.0; }
 
 double radToDeg(double rad) { return rad * 180.0 / M_PI; }
 
-void angleToStep(long &stepX, long &stepY, double angleX, double angleY) {
-  // TODO remove magic numbers
-  double stepRatioX = 6000 / M_PI;
-  double stepRatioY = 6500 / M_PI;
-
-  stepX = angleX * stepRatioX;
-  stepY = angleY * stepRatioY;
+void angleToStep(Turret::StepRatio stepRatio, vec2<double> angle,
+                 vec2<long> &step) {
+  step.x = angle.x * stepRatio.x;
+  step.y = angle.y * stepRatio.y;
 }
 
-void cartesianToPolar(long &stepX, long &stepY, double zeroX, double zeroY,
-                      double x, double y, double z) {
-  // TODO remove magic numbers
-  double distance = 166.0; // turret to screen
-  double offsetY = 21.0;   // laser to stand
-  double offsetX = 0.0;    // unused
-
+void cartesianToPolar(Turret::StepRatio stepRatio, Turret::Offset offset,
+                      vec2<long> zero, vec3<double> position,
+                      vec2<long> &step) {
   // x = -x; // natural axis direction
-  y = -y; // natural axis direction
-  double dX = x + offsetX;
-  double dY = y + offsetY;
-  double dZ = z + distance;
+  position.y = -position.y; // natural axis direction
+  double dX = position.x + offset.x;
+  double dY = position.y + offset.y;
+  double dZ = position.z + offset.z;
 
-  double angleY = atan2(dZ, dY) - M_PI / 2;
-  double angleX = atan2(dZ, dX) - M_PI / 2;
+  vec2<double> angle(atan2(dZ, dY) - M_PI / 2, atan2(dZ, dX) - M_PI / 2);
 
-  angleToStep(stepX, stepY, angleX, angleY);
+  angleToStep(stepRatio, angle, step);
 }

maths.h

@@ -1,5 +1,8 @@
+#include "turret.h"
+
 double degToRad(double deg);
 double radToDeg(double rad);
-void angleToStep(long &stepX, long &stepY, double angleX, double angleY);
-void cartesianToPolar(long &stepX, long &stepY, double zeroX, double zeroY,
-                      double x, double y, double z);
+void angleToStep(Turret::StepRatio stepRatio, vec2<double> angle,
+                 vec2<long> &step);
+void cartesianToPolar(Turret::StepRatio stepRatio, Turret::Offset offset,
+                      vec2<long> zero, vec3<double> position, vec2<long> &step);

turret.cpp

@@ -1,42 +1,38 @@
 #include "turret.h"
-#include "config.h"
 #include "maths.h"
 #include <kissStepper.h>
 
-Turret::Turret(int pin_x_direction, int pin_x_pulse, int pin_x_enable,
-               int pin_x_home, int pin_y_direction, int pin_y_pulse,
-               int pin_y_enable, int pin_y_home, int pin_laser)
-    : _stepperX(pin_x_direction, pin_x_pulse, pin_x_enable),
-      _stepperY(pin_y_direction, pin_y_pulse, pin_y_enable) {
+Turret::Turret(StepRatio step_ratio, Offset offset, PinMap pin_map_x,
+               PinMap pin_map_y)
+    : _stepper(kissStepper(static_cast<uint8_t>(pin_map_x.direction),
+                           static_cast<uint8_t>(pin_map_x.pulse),
+                           static_cast<uint8_t>(pin_map_x.enable)),
+               kissStepper(static_cast<uint8_t>(pin_map_y.direction),
+                           static_cast<uint8_t>(pin_map_y.pulse),
+                           static_cast<uint8_t>(pin_map_y.enable))) {
 
-  _pin_x_direction = pin_x_direction;
-  _pin_x_pulse = pin_x_pulse;
-  _pin_x_enable = pin_x_enable;
-
-  _pin_y_direction = pin_y_direction;
-  _pin_y_pulse = pin_y_pulse;
-  _pin_y_enable = pin_y_enable;
-
-  _pin_x_home = pin_x_home;
-  _pin_y_home = pin_y_home;
-  _pin_laser = pin_laser;
+  _pin.x = pin_map_x;
+  _pin.y = pin_map_y;
+  _step_ratio = step_ratio;
+  _offset = offset;
 }
 
 Turret &Turret::init() {
-  pinMode(_pin_laser, OUTPUT);
+  pinMode(_pin.x.laser, OUTPUT);
+  pinMode(_pin.y.laser, OUTPUT);
 
-  pinMode(_pin_x_direction, OUTPUT);
-  pinMode(_pin_x_pulse, OUTPUT);
-  pinMode(_pin_x_enable, OUTPUT);
-  pinMode(_pin_x_home, INPUT_PULLUP);
+  pinMode(_pin.x.direction, OUTPUT);
+  pinMode(_pin.x.pulse, OUTPUT);
+  pinMode(_pin.x.enable, OUTPUT);
+  pinMode(_pin.x.home, INPUT_PULLUP);
 
-  pinMode(_pin_y_direction, OUTPUT);
-  pinMode(_pin_y_pulse, OUTPUT);
-  pinMode(_pin_y_enable, OUTPUT);
-  pinMode(_pin_y_home, INPUT_PULLUP);
+  pinMode(_pin.y.direction, OUTPUT);
+  pinMode(_pin.y.pulse, OUTPUT);
+  pinMode(_pin.y.enable, OUTPUT);
+  pinMode(_pin.y.home, INPUT_PULLUP);
 
-  _stepperX.begin();
-  _stepperY.begin();
+  _stepper.x.begin();
+  _stepper.y.begin();
 
   return *this;
 }
@@ -45,27 +41,27 @@ Turret &Turret::gotoHome() {
   long xStop = 0;
   long yStop = 0;
 
-  _stepperX.prepareMove(-1000000l);
-  _stepperY.prepareMove(-1000000l);
+  _stepper.x.prepareMove(-1000000l);
+  _stepper.y.prepareMove(-1000000l);
 
   while (true) {
-    _stepperX.move();
-    _stepperY.move();
+    _stepper.x.move();
+    _stepper.y.move();
 
     if (xStop == 2 && yStop == 2) {
-      _homeX = _stepperX.getPos();
-      _homeY = _stepperY.getPos();
+      _home.x = _stepper.x.getPos();
+      _home.y = _stepper.y.getPos();
       break;
     }
 
-    if (xStop < 2 && digitalRead(_pin_x_home)) {
+    if (xStop < 2 && digitalRead(_pin.x.home)) {
       xStop++;
-      _stepperX.stop();
+      _stepper.x.stop();
     }
 
-    if (yStop < 2 && digitalRead(_pin_y_home)) {
+    if (yStop < 2 && digitalRead(_pin.y.home)) {
       yStop++;
-      _stepperY.stop();
+      _stepper.y.stop();
     }
   }
 
@@ -74,8 +70,8 @@ Turret &Turret::gotoHome() {
 
 Turret &Turret::gotoZero() {
   // TODO remove magic numbers
-  _stepperX.prepareMove(_homeX + 0);
-  _stepperY.prepareMove(_homeY + 2500);
+  _stepper.x.prepareMove(_home.x + 0);
+  _stepper.y.prepareMove(_home.y + 2500);
 
   bool xStop = false;
   bool yStop = false;
@@ -84,13 +80,13 @@ Turret &Turret::gotoZero() {
     if (xStop && yStop)
       break;
     if (!xStop)
-      xStop = _stepperY.move() == STATE_STOPPED;
+      xStop = _stepper.y.move() == STATE_STOPPED;
     if (!yStop)
-      yStop = _stepperX.move() == STATE_STOPPED;
+      yStop = _stepper.x.move() == STATE_STOPPED;
   }
 
-  _zeroX = _stepperX.getPos();
-  _zeroY = _stepperY.getPos();
+  _zero.x = _stepper.x.getPos();
+  _zero.y = _stepper.y.getPos();
 
   return *this;
 }
@@ -102,39 +98,39 @@ Turret &Turret::calibrate() {
 }
 
 Turret &Turret::moveTo(double x, double y, double z, Unit unit) {
-  long stepX;
-  long stepY;
+  vec2<long> step;
 
   if (unit == Unit::MM) {
-    cartesianToPolar(stepX, stepY, _zeroX, _zeroY, x / 10.0, y / 10.0,
-                     z / 10.0);
+    vec3<double> position(x / 10.0, y / 10.0, z / 10.0);
+    cartesianToPolar(_step_ratio, _offset, _zero, position, step);
   }
 
   if (unit == Unit::CM) {
-    cartesianToPolar(stepX, stepY, _zeroX, _zeroY, x, y, z);
+    vec3<double> position(x, y, z);
+    cartesianToPolar(_step_ratio, _offset, _zero, position, step);
   }
 
   if (unit == Unit::M) {
-    cartesianToPolar(stepX, stepY, _zeroX, _zeroY, x * 100.0, y * 100.0,
-                     z * 100.0);
+    vec3<double> position(x * 100.0, y * 100.0, z * 100.0);
+    cartesianToPolar(_step_ratio, _offset, _zero, position, step);
   }
 
   if (unit == Unit::STEP) {
-    stepX = x;
-    stepY = y;
+    step.x = x;
+    step.y = y;
   }
 
   if (unit == Unit::RAD) {
-    angleToStep(stepX, stepY, x, y);
+    angleToStep(_step_ratio, vec2<double>(x, y), step);
   }
 
   if (unit == Unit::DEG) {
-    angleToStep(stepX, stepY, degToRad(x), degToRad(y));
+    angleToStep(_step_ratio, vec2<double>(degToRad(x), degToRad(y)), step);
   }
 
   // TODO min(valueI, -_homeI);
-  _stepperX.prepareMove(_zeroX + stepX);
-  _stepperY.prepareMove(_zeroY + stepY);
+  _stepper.x.prepareMove(_zero.x + step.x);
+  _stepper.y.prepareMove(_zero.y + step.y);
 
   bool xStop = false;
   bool yStop = false;
@@ -143,47 +139,47 @@ Turret &Turret::moveTo(double x, double y, double z, Unit unit) {
     if (xStop && yStop)
       break;
     if (!xStop)
-      xStop = _stepperX.move() == STATE_STOPPED;
+      xStop = _stepper.x.move() == STATE_STOPPED;
     if (!yStop)
-      yStop = _stepperY.move() == STATE_STOPPED;
+      yStop = _stepper.y.move() == STATE_STOPPED;
   }
 
-  _currentX = x;
-  _currentY = y;
-  _currentZ = z;
+  _current.x = x;
+  _current.y = y;
+  _current.z = z;
 
   return *this;
 }
 
 Turret &Turret::moveBy(double x, double y, double z, Unit unit) {
-  long zeroXStored = _zeroX;
-  long zeroYStored = _zeroY;
+  long zeroXStored = _zero.x;
+  long zeroYStored = _zero.y;
 
-  _zeroX += _stepperX.getPos();
-  _zeroY += _stepperY.getPos();
+  _zero.x += _stepper.x.getPos();
+  _zero.y += _stepper.y.getPos();
 
   moveTo(x, y, z, unit);
 
-  _zeroX = zeroXStored;
-  _zeroY = zeroYStored;
+  _zero.x = zeroXStored;
+  _zero.y = zeroYStored;
 
-  _currentX = x;
-  _currentY = y;
-  _currentZ = z;
+  _current.x = x;
+  _current.y = y;
+  _current.z = z;
 
   return *this;
 }
 
 Turret &Turret::moveToX(double x, Unit unit) {
-  return moveTo(x, _currentY, _currentZ, unit);
+  return moveTo(x, _current.y, _current.z, unit);
 }
 
 Turret &Turret::moveToY(double y, Unit unit) {
-  return moveTo(_currentX, y, _currentZ, unit);
+  return moveTo(_current.x, y, _current.z, unit);
 }
 
 Turret &Turret::moveToZ(double z, Unit unit) {
-  return moveTo(_currentX, _currentY, z, unit);
+  return moveTo(_current.x, _current.y, z, unit);
 }
 
 Turret &Turret::moveByX(double x, Unit unit) { return moveBy(x, 0, 0, unit); }
@@ -208,11 +204,13 @@ Turret &Turret::getZero(double &x, double &y, double &z, Unit unit) {
 }
 
 Turret &Turret::laserOn() {
-  digitalWrite(_pin_laser, HIGH);
+  digitalWrite(_pin.x.laser, HIGH);
+  digitalWrite(_pin.y.laser, HIGH);
   return *this;
 }
 
 Turret &Turret::laserOff() {
-  digitalWrite(_pin_laser, LOW);
+  digitalWrite(_pin.x.laser, LOW);
+  digitalWrite(_pin.y.laser, LOW);
   return *this;
 }

turret.h

@@ -3,13 +3,43 @@
 
 #include <kissStepper.h>
 
+template <typename T> struct vec3 {
+  T x;
+  T y;
+  T z;
+
+  vec3() : x(T()), y(T()), z(T()) {}
+  vec3(T _x, T _y, T _z) : x(_x), y(_y), z(_z) {}
+};
+
+template <typename T> struct vec2 {
+  T x;
+  T y;
+
+  vec2() : x(T()), y(T()) {}
+  vec2(T _x, T _y) : x(_x), y(_y) {}
+};
+
 class Turret {
 public:
   enum Unit { MM, CM, M, RAD, DEG, STEP };
 
-  Turret(int pin_x_direction, int pin_x_pulse, int pin_x_enable, int pin_x_home,
-         int pin_y_direction, int pin_y_pulse, int pin_y_enable, int pin_y_home,
-         int pin_laser);
+  using StepRatio = vec2<double>;
+  using Offset = vec3<double>;
+  // x -> turret to screen
+  // y -> laser to stand
+  // z -> unused
+
+  struct PinMap {
+    int home;
+    int direction;
+    int pulse;
+    int enable;
+    int laser;
+  };
+
+  Turret(StepRatio step_ratio, Offset offset, PinMap pin_map_x,
+         PinMap pin_map_y);
 
   Turret &init();
   Turret &gotoHome();
@@ -36,30 +66,13 @@ public:
   Turret &laserOff();
 
 private:
-  kissStepper _stepperX;
-  kissStepper _stepperY;
-
-  int _homeX;
-  int _homeY;
-
-  int _zeroX;
-  int _zeroY;
-
-  int _currentX;
-  int _currentY;
-  int _currentZ;
-
-  int _pin_x_direction;
-  int _pin_x_pulse;
-  int _pin_x_enable;
-
-  int _pin_y_direction;
-  int _pin_y_pulse;
-  int _pin_y_enable;
-
-  int _pin_x_home;
-  int _pin_y_home;
-  int _pin_laser;
+  vec2<kissStepper> _stepper;
+  vec2<long> _home;
+  vec2<long> _zero;
+  vec3<long> _current;
+  vec2<PinMap> _pin;
+  StepRatio _step_ratio;
+  Offset _offset;
 };
 
 #endif

turret_debug.ino

@@ -1,9 +1,26 @@
 #include "config.h"
 #include "turret.h"
 
-Turret turret(PIN_X_DIRECTION, PIN_X_PULSE, PIN_X_ENABLE, PIN_X_HOME,
-              PIN_Y_DIRECTION, PIN_Y_PULSE, PIN_Y_ENABLE, PIN_Y_HOME,
-              PIN_LASER);
+Turret::PinMap pinX = {
+    .home = PIN_X_HOME,
+    .direction = PIN_X_DIRECTION,
+    .pulse = PIN_X_PULSE,
+    .enable = PIN_X_ENABLE,
+    .laser = PIN_LASER,
+};
+
+Turret::PinMap pinY = {
+    .home = PIN_Y_HOME,
+    .direction = PIN_Y_DIRECTION,
+    .pulse = PIN_Y_PULSE,
+    .enable = PIN_Y_ENABLE,
+    .laser = PIN_LASER,
+};
+
+Turret::StepRatio stepRatio(STEP_RATIO_X, STEP_RATIO_Y);
+Turret::Offset offset(OFFSET_X, OFFSET_Y, OFFSET_Z);
+
+Turret turret(stepRatio, offset, pinX, pinY);
 
 void setup() {
   turret.init();