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#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
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