66 lines
1.5 KiB
C++
66 lines
1.5 KiB
C++
#ifndef TURRET_H
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#define TURRET_H
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#include <kissStepper.h>
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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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Turret(int pin_x_direction, int pin_x_pulse, int pin_x_enable, int pin_x_home,
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int pin_y_direction, int pin_y_pulse, int pin_y_enable, int pin_y_home,
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int pin_laser);
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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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kissStepper _stepperX;
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kissStepper _stepperY;
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long _homeX;
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long _homeY;
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long _zeroX;
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long _zeroY;
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long _currentX;
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long _currentY;
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long _currentZ;
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int _pin_x_direction;
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int _pin_x_pulse;
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int _pin_x_enable;
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int _pin_y_direction;
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int _pin_y_pulse;
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int _pin_y_enable;
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int _pin_x_home;
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int _pin_y_home;
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int _pin_laser;
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};
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#endif
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