83 lines
1.8 KiB
C++
83 lines
1.8 KiB
C++
#ifndef TURRET_H
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#define TURRET_H
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#include <kissStepper.h>
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template <typename T> struct vec3 {
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T x;
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T y;
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T z;
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vec3() : x(T()), y(T()), z(T()) {}
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vec3(T _x, T _y, T _z) : x(_x), y(_y), z(_z) {}
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};
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template <typename T> struct vec2 {
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T x;
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T y;
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vec2() : x(T()), y(T()) {}
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vec2(T _x, T _y) : x(_x), y(_y) {}
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};
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class Turret {
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public:
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enum Unit { MM, CM, M, RAD, DEG, STEP };
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using StepRatio = vec2<double>;
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using Offset = vec3<double>;
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// x -> turret to screen
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// y -> laser to stand
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// z -> unused
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using ZeroOffset = vec2<long>;
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struct PinMap {
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int home;
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int direction;
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int pulse;
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int enable;
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int laser;
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};
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Turret(StepRatio step_ratio, Offset offset, ZeroOffset zero_offset,
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PinMap pin_map_x, PinMap pin_map_y);
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~Turret();
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Turret &init();
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Turret &gotoHome();
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Turret &gotoZero();
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Turret &moveTo(double x, double y, double z, Unit unit = Turret::Unit::CM);
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Turret &moveBy(double x, double y, double z, Unit unit = Turret::Unit::CM);
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Turret &moveToX(double x, Unit unit = Turret::Unit::CM);
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Turret &moveToY(double y, Unit unit = Turret::Unit::CM);
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Turret &moveToZ(double z, Unit unit = Turret::Unit::CM);
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Turret &moveByX(double x, Unit unit = Turret::Unit::CM);
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Turret &moveByY(double y, Unit unit = Turret::Unit::CM);
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Turret &moveByZ(double z, Unit unit = Turret::Unit::CM);
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Turret &getPosition(double &x, double &y, double &z, Unit unit);
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Turret &getHome(double &x, double &y, double &z, Unit unit);
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Turret &getZero(double &x, double &y, double &z, Unit unit);
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Turret &calibrate();
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Turret &laserOn();
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Turret &laserOff();
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private:
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vec2<kissStepper> _stepper;
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vec2<long> _home;
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vec2<long> _zero;
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vec3<long> _current;
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vec2<PinMap> _pin;
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StepRatio _step_ratio;
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Offset _offset;
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ZeroOffset _zero_offset;
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};
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#endif
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