Julien Oculi
403f9181e3
This commit close this branch with WIP implementation of a stack based task pool system to handle long running action (motor move) of the kissStepper lib (that need a long `while`). The goal was to allow handling of incomming serrial messages and motion cancellation during stepper control loop.
105 lines
2.5 KiB
C++
105 lines
2.5 KiB
C++
#ifndef TURRET_H
|
|
#define TURRET_H
|
|
|
|
#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 };
|
|
|
|
using StepRatio = vec2<double>;
|
|
using Offset = vec3<double>;
|
|
// x -> turret to screen
|
|
// y -> laser to stand
|
|
// z -> unused
|
|
|
|
using ZeroOffset = vec2<long>;
|
|
|
|
struct PinMap {
|
|
int home;
|
|
int direction;
|
|
int pulse;
|
|
int enable;
|
|
int laser;
|
|
};
|
|
|
|
Turret(StepRatio step_ratio, Offset offset, ZeroOffset zero_offset,
|
|
PinMap pin_map_x, PinMap pin_map_y);
|
|
~Turret();
|
|
|
|
Turret &init();
|
|
Turret &gotoHome(bool blocking = false);
|
|
Turret &gotoZero(bool blocking = false);
|
|
|
|
Turret &moveTo(double x, double y, double z, Unit unit = Turret::Unit::CM, bool blocking = false);
|
|
Turret &moveBy(double x, double y, double z, Unit unit = Turret::Unit::CM, bool blocking = false);
|
|
|
|
Turret &moveToX(double x, Unit unit = Turret::Unit::CM, bool blocking = false);
|
|
Turret &moveToY(double y, Unit unit = Turret::Unit::CM, bool blocking = false);
|
|
Turret &moveToZ(double z, Unit unit = Turret::Unit::CM, bool blocking = false);
|
|
|
|
Turret &moveByX(double x, Unit unit = Turret::Unit::CM, bool blocking = false);
|
|
Turret &moveByY(double y, Unit unit = Turret::Unit::CM, bool blocking = false);
|
|
Turret &moveByZ(double z, Unit unit = Turret::Unit::CM, bool blocking = false);
|
|
|
|
Turret &getPosition(double &x, double &y, double &z, Unit unit);
|
|
Turret &getHome(double &x, double &y, Unit unit);
|
|
Turret &getZero(double &x, double &y, Unit unit);
|
|
|
|
Turret &calibrate(bool blocking = false);
|
|
|
|
Turret &laserOn();
|
|
Turret &laserOff();
|
|
|
|
Turret &nextTick();
|
|
Turret &flushTick();
|
|
bool hasTick();
|
|
|
|
private:
|
|
vec2<kissStepper> _stepper;
|
|
vec2<long> _home;
|
|
vec2<long> _zero;
|
|
vec3<long> _current;
|
|
vec2<PinMap> _pin;
|
|
StepRatio _step_ratio;
|
|
Offset _offset;
|
|
ZeroOffset _zero_offset;
|
|
|
|
// tick queue related
|
|
static constexpr size_t TICK_QUEUE_LENGTH = 32;
|
|
using TickHandler = bool (Turret::*)();
|
|
|
|
TickHandler _tick_queue[TICK_QUEUE_LENGTH];
|
|
size_t _tick_queue_head = 0;
|
|
size_t _tick_queue_tail = 0;
|
|
|
|
bool _enqueue_tick(TickHandler fn);
|
|
bool _dequeue_tick();
|
|
TickHandler _current_tick();
|
|
|
|
bool (Turret::*_next_tick)() = nullptr;
|
|
|
|
// tick handlers
|
|
bool _goto_zero_tick();
|
|
bool _goto_home_tick();
|
|
};
|
|
|
|
#endif
|