ad8aa69794
Restructured the header file inclusion so that the .cpp files are dependent on fewer header files, resulting in less recompilation when most header files are changed
46 lines
2.1 KiB
C++
46 lines
2.1 KiB
C++
/*
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* DeltaProbe.h
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*
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* Created on: 20 Apr 2015
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* Author: David
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*/
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#ifndef DELTAPROBE_H_
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#define DELTAPROBE_H_
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#include "RepRapFirmware.h"
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// Class to hold the parameters for my new Z probing method
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class DeltaProbe
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{
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enum class State { normal, stopping, stopped, overran };
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// Fixed parameters
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static const unsigned int MaxSteps = 30; // 15 corresponds to 0.375mm p-p movement @ 80 steps/mm
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// Static parameters, set up before we start probing and unchanged during probing
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unsigned int normalSteps; // the number of steps we use to achieve the requested amplitude
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unsigned int halfCyclesPerIncrement; // how many half cycles between lowering the head by 1 step
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unsigned int maxIncrements; // max number of steps we lower the head
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uint32_t halfCycleTime; // how many interrupt clocks per quarter cycle
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uint32_t normalStepTable[MaxSteps]; // table of step times for the first half cycle, in interrupt clocks from start
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uint32_t incStepTable[MaxSteps + 1]; // table of step times for the first half cycle, when we are moving down a step
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// Dynamic parameters, to track the progress of the probe
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unsigned int stepsDone; // how many steps since the start of this quarter cycle
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unsigned int halfCycleCount; // how many quarter cycles since we started or lowered the head
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unsigned int numIncrements; // how many steps we have lowered the head since we started
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bool incrementing; // true if we are lowering the head 2 step in this half cycle
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State state; // what state the probe is in
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public:
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bool Init(float frequency, float amplitude, float rate, float height); // Get ready to probe
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uint32_t Start(); // start the process, return the next step time
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bool GetDirection() const; // get the direction for the current step
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uint32_t CalcNextStepTime(); // calculate when the next step is due
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void Trigger(); // cease probing
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bool Finished() const { return state == State::stopped || state == State::overran; }
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bool Overran() const { return state == State::overran; }
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};
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#endif /* DELTAPROBE_H_ */
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