77 lines
1.5 KiB
C++
77 lines
1.5 KiB
C++
#ifndef TURRET_H
|
|
#define TURRET_H
|
|
|
|
#include <kissStepper.h>
|
|
|
|
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
|
|
);
|
|
|
|
Turret& init();
|
|
Turret& gotoHome();
|
|
Turret& gotoZero();
|
|
|
|
Turret& moveTo(double x, double y, double z, Unit unit = Turret::Unit::CM);
|
|
Turret& moveBy(double x, double y, double z, Unit unit = Turret::Unit::CM);
|
|
|
|
Turret& moveToX(double x, Unit unit = Turret::Unit::CM);
|
|
Turret& moveToY(double y, Unit unit = Turret::Unit::CM);
|
|
Turret& moveToZ(double z, Unit unit = Turret::Unit::CM);
|
|
|
|
Turret& moveByX(double x, Unit unit = Turret::Unit::CM);
|
|
Turret& moveByY(double y, Unit unit = Turret::Unit::CM);
|
|
Turret& moveByZ(double z, Unit unit = Turret::Unit::CM);
|
|
|
|
Turret& getPosition(double &x, double &y, double &z, Unit unit);
|
|
Turret& getHome(double &x, double &y, double &z, Unit unit);
|
|
Turret& getZero(double &x, double &y, double &z, Unit unit);
|
|
|
|
Turret& calibrate();
|
|
|
|
Turret& laserOn();
|
|
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;
|
|
};
|
|
|
|
#endif
|