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Diffstat (limited to 'CodesArduino-for-plugin/TwoRelay/OSP.h')
| -rw-r--r-- | CodesArduino-for-plugin/TwoRelay/OSP.h | 234 |
1 files changed, 234 insertions, 0 deletions
diff --git a/CodesArduino-for-plugin/TwoRelay/OSP.h b/CodesArduino-for-plugin/TwoRelay/OSP.h new file mode 100644 index 0000000..12dd770 --- /dev/null +++ b/CodesArduino-for-plugin/TwoRelay/OSP.h @@ -0,0 +1,234 @@ +#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 delayValue; + int step1, dir1, enable1, step2, dir2, enable2; + 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 setMotorsPins(int step1, int dir1, int enable1, int step2, int dir2, int enable2); + + + /** + * 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 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 step2, int dir2); + void OSP::_moveEqua(int x, int y); + }; +#endif |