Updated OSP-plugin

1 files changed, 242 insertions, 0 deletions

diff --git a/Other_Arduino_Codes/TwoNema17-A4988-OSP-Plugin-Test/OSP.h b/Other_Arduino_Codes/TwoNema17-A4988-OSP-Plugin-Test/OSP.h
new file mode 100644
index 0000000..8f2fd0b
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+++ b/Other_Arduino_Codes/TwoNema17-A4988-OSP-Plugin-Test/OSP.h
@@ -0,0 +1,242 @@
+#ifndef OSP_h
+#define OSP_h
+
+	#include <math.h>
+	#include <string.h>
+
+	
+	/**
+	 * \brief Class that manages movements and the laser of the device
+	 *
+	 * Uses the stepper motors and sensors to positioning the device at a given horizontal coordinates, 
+	 * within a range of 360º degrees in horizontal, and 180º on vertical.
+	 * To the movements uses the DDA algorithm (Digital Differential Algorithm).
+	 */
+	class OSP{
+     public:      
+     
+    // int pulPin, 
+   //  int pulPin, dirPin, enblPin, pulPin1, dirPin1, enblPin1, ledPin, ddir1, ddir2, motor1, motor2, sensor1,sensor2, _stPin_x, _stPin_y, _dirPin, _enable_x, _enable_y;
+
+int step1, dir1, enable1, step2, dir2, enable2, ledPin, ddir1, ddir2, motor1, motor2, sensor1,sensor2, _stPin_x, _stPin_y, _dirPin, _enable_x, _enable_y;
+
+     int stepx, stepy;
+     int low;
+     int high;
+     int stopper;
+     float degsH;
+     float degsV;
+  
+			/**
+			 * Pins to control the stepper motors
+			 */
+			
+			/**
+			 * Steps per degree on each axis
+			 */
+			float _pgrad_x, _pgrad_y;
+			
+			/**
+			 * Current position of each axis (in radians)
+			 */
+			float _rx, _ry;
+			
+			/**
+			 * Auxiliary variables, maximum theoric values, and steps per revolution respectively
+			 */
+			int _x, _y, _X, _Y, _pv_x, _pv_y;
+			
+			/**
+			 * Theoric central values of each axis
+			 */
+			int _revx, _topy;
+			
+			/**
+			 * Indicates if X axis has been "reverted" (Y is between 90º and 180º)
+			 */
+			bool _x_rev;
+			
+			/**
+			 * Sensor pins
+			 */
+			int _s0Pin_x, _s360Pin_x, _sbottomPin_y, _stopPin_y;
+			
+			/**
+			 * Transforms radian to degrees
+			 *
+			 * \param rad Radians
+			 * \return degrees
+			 */
+			float _rad2deg(float rad);
+			
+			/**
+			 * Degrees to radians
+			 *
+			 * \param deg Degrees
+			 * \return radians
+			 */
+			float _deg2rad(float deg);
+			
+			/**
+			 * Moves one of the motors a given number of steps
+			 *
+			 * \param axis Pin of the motor to move
+			 * \param dir Direction: True means clockwise direction on X, and upwards on Y
+			 * \param steps Number of steps (if limit sensor is not reached)
+			 * \param sensor Pin of the sensor that can be reached towards that direction
+			 * \param nodelay Skip the initial delay (useful to DDA algorithm)
+			 * \return Number of steps (distinct of the steps parameter if the sensor has been reached)
+			 */
+			//int _step(int axis, bool dir, int steps, int sensor, bool nodelay=false);
+			
+			/**
+			 * Enables the motors power supply
+			 */
+			void _enableMotors();
+			
+			/**
+			 * Disables the motors power supply
+			 */
+			void _disableMotors();
+			
+			/**
+			 * Moves the device to the given position
+			 * 
+			 * \param x Number of steps from 0 to the desired position on X axis
+			 * \param y Number of steps from 0 to the desired position on Y axis
+			 * \param method Algorithm selection: DDA or XY (first X axis, then Y), by default is DDA
+			 */
+			void _moveTo(float x, float y, char* method = "DDA");
+			
+			/**
+			 * Moves the device to the given position, first X axis and then Y axis
+			 * 
+			 * \param x Number of steps from 0 to the desired position on X axis
+			 * \param y Number of steps from 0 to the desired position on Y axis
+			 * \param nodelay Omits the delay on changes of axis or direction
+			 */
+			void _moveXY(int x, int y, bool nodelay=false);
+			
+			/**
+			 * Moves the device to the given position using DDA algorithm
+			 * 
+			 * \param x Number of steps from 0 to the desired position on X axis
+			 * \param y Number of steps from 0 to the desired position on Y axis
+			 */
+			void _moveDDA(int x, int y);
+      //void _moveDDA(int x, int y, float dirx, float diry);
+			
+		public:
+			/**
+			 * Class constructor
+			 */
+			OSP();
+			
+			/**
+			 * Initializes the device
+			 * 
+			 * Along the process obtains the number of steps on each axis, and calculates the steps
+			 * per degree for positioning
+			 */
+			void init();
+			
+			/**
+			 * Returns current position on X axis
+			 * 
+			 * \return X position as radians
+			 */
+			float getX();
+			
+			/**
+			 * Returns current position on Y axis
+			 * 
+			 * \return Y position as radians
+			 */
+			float getY();
+			
+			/**
+			 * Return the number of steps per revolution of the X axis
+			 *
+			 * \return Steps per revolution
+			 */
+			int getPX();
+			
+			/**
+			 * Number of steps from 0º to current position on X axis
+			 *
+			 * \return Current position on X
+			 */
+			int getPx();
+			
+			/**
+			 * Return the number of steps per revolution of the Y axis
+			 *
+			 * \return Steps per revolution
+			 */			
+			int getPY();
+			
+			/**
+			 * Number of steps from 0º to current position on Y axis
+			 *
+			 * \return Current position on Y
+			 */
+			int getPy();
+			
+			/**
+			 * Sets the pins to control the stepper motors
+			 *
+			 * \param stPin_x Pin to move the X axis
+			 * \param stPin_y Pin to move the Y axis
+			 * \param dirPin Direction: True means clockwise direction on X axis, and downwards on Y
+			 * \param enable_x Turn On/Off power supply on X axis motor
+			 * \param enable_y Turn On/Off power supply on Y axis motor
+      *
+			 */
+			//void _step(int steps, bool dir);
+		//	void setMotorsPins(int pulPin, int dirPin,
+// int enblPin, int pulPin1, int dirPin1, int enblPin1, int ledPin, int ddir1, int ddir2, int motor1, int motor2, int sensor1, int sensor2);
+
+void setMotorsPins(int step1, int dir1, int enable1, int step2, int dir2, int enable2, int ledPin, int ddir1, int ddir2, int motor1, int motor2, int sensor1, int sensor2);
+      
+      
+			/**
+			 * Sets the pins connected to the sensors
+			 *
+			 * \param s0Pin_x Pin for the 0º limit sensor on X axis
+			 * \param s360Pin_x Pir for the 360º limit sensor on X axis
+			 * \param sbottomPin_y Pin for the 0º limit sensor on Y axis
+			 * \param stopPin_y Sensor for the 90º limit sensor on Y axis
+			 */			
+			void setSensorsPins(int s0Pin_x, int s360Pin_x, int sbottomPin_y, int stopPin_y);
+			
+			/**
+			 * Points the device towards the given coordinates
+			 *
+			 * \param rx Radians for the X axis, on range of 0 - 2*Pi
+			 * \param ry Radians for the Y axis: on range of 0 - Pi
+			 */				
+			void goToRads(float rx, float ry);
+			
+			/**
+			 * Accelerated movement for X axis
+			 * 
+			 * The movement stops when a 'stop' command is received by the serial port
+			 *
+			 * \param dir Direction: True means clockwise direction
+			 * \return Returns true in case of reaches a limit sensor
+			 */
+			// bool movx(bool dir,  int pulPin, int dirPin);
+			bool movx(bool dir,  int step1, int dir1);
+			/**
+			 * Accelerated movement for Y axis
+			 * 
+			 * The movement stops when a 'stop' command is received by the serial port
+			 * 
+			 * \param dir Direction: True means upwards
+			 * \return Returns true in case of reaches a limit sensor
+			 */
+			// bool movy(bool dir,  int pulPin1, int dirPin1);
+     bool movy(bool dir,  int step2, int dir2);
+      void OSP::_moveEqua(int x, int y);
+	};
+#endif