#ifndef OSP_h #define OSP_h #include #include /** * \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; float 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(float x, float 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