79 lines
3.1 KiB
C
79 lines
3.1 KiB
C
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// MultiStepper.h
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#ifndef MultiStepper_h
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#define MultiStepper_h
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#include <stdlib.h>
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#if ARDUINO >= 100
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#include <Arduino.h>
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#else
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#include <WProgram.h>
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#include <wiring.h>
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#endif
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#define MULTISTEPPER_MAX_STEPPERS 10
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class AccelStepper;
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/////////////////////////////////////////////////////////////////////
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/// \class MultiStepper MultiStepper.h <MultiStepper.h>
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/// \brief Operate multiple AccelSteppers in a co-ordinated fashion
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///
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/// This class can manage multiple AccelSteppers (up to MULTISTEPPER_MAX_STEPPERS = 10),
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/// and cause them all to move
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/// to selected positions at such a (constant) speed that they all arrive at their
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/// target position at the same time. This can be used to support devices with multiple steppers
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/// on say multiple axes to cause linear diagonal motion. Suitable for use with X-Y plotters, flatbeds,
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/// 3D printers etc
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/// to get linear straight line movement between arbitrary 2d (or 3d or ...) positions.
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///
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/// Caution: only constant speed stepper motion is supported: acceleration and deceleration is not supported
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/// All the steppers managed by MultiStepper will step at a constant speed to their
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/// target (albeit perhaps different speeds for each stepper).
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class MultiStepper
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{
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public:
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/// Constructor
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MultiStepper();
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/// Add a stepper to the set of managed steppers
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/// There is an upper limit of MULTISTEPPER_MAX_STEPPERS = 10 to the number of steppers that can be managed
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/// \param[in] stepper Reference to a stepper to add to the managed list
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/// \return true if successful. false if the number of managed steppers would exceed MULTISTEPPER_MAX_STEPPERS
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boolean addStepper(AccelStepper& stepper);
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/// Set the target positions of all managed steppers
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/// according to a coordinate array.
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/// New speeds will be computed for each stepper so they will all arrive at their
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/// respective targets at very close to the same time.
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/// \param[in] absolute An array of desired absolute stepper positions. absolute[0] will be used to set
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/// the absolute position of the first stepper added by addStepper() etc. The array must be at least as long as
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/// the number of steppers that have been added by addStepper, else results are undefined.
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void moveTo(long absolute[]);
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/// Calls runSpeed() on all the managed steppers
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/// that have not acheived their target position.
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/// \return true if any stepper is still in the process of running to its target position.
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boolean run();
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/// Runs all managed steppers until they acheived their target position.
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/// Blocks until all that position is acheived. If you dont
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/// want blocking consider using run() instead.
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void runSpeedToPosition();
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private:
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/// Array of pointers to the steppers we are controlling.
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/// Fills from 0 onwards
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AccelStepper* _steppers[MULTISTEPPER_MAX_STEPPERS];
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/// Number of steppers we are controlling and the number
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/// of steppers in _steppers[]
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uint8_t _num_steppers;
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};
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/// @example MultiStepper.pde
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/// Use MultiStepper class to manage multiple steppers and make them all move to
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/// the same position at the same time for linear 2d (or 3d) motion.
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#endif
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