66 lines
1.7 KiB
C
66 lines
1.7 KiB
C
|
#ifndef DVT_GANTRYCLASS_H
|
||
|
|
#define DVT_GANTRYCLASS_H
|
||
|
|
|
||
|
|
#include "DVT_MainClass.h"
|
||
|
|
|
||
|
|
class Gantry {
|
||
|
|
private:
|
||
|
|
int nt_cl_speed;
|
||
|
|
int nt_cc_speed;
|
||
|
|
long CurEncoderPos;
|
||
|
|
long NewEncoderPos;
|
||
|
|
public:
|
||
|
|
Gantry(int nt_cl_speed, int nt_cc_speed) {
|
||
|
|
this->nt_cl_speed = nt_cl_speed;
|
||
|
|
this->nt_cc_speed = nt_cc_speed;
|
||
|
|
}
|
||
|
|
void Start() {
|
||
|
|
ARM_STOP.SetState(HIGH);
|
||
|
|
sysMSG("SYSTEM: Gantry Started");
|
||
|
|
}
|
||
|
|
void Stop() {
|
||
|
|
ARM_STOP.SetState(LOW);
|
||
|
|
sysMSG("SYSTEM: Gantry Stopped");
|
||
|
|
ARM_SPEED.SetAnalogState(0);
|
||
|
|
}
|
||
|
|
void ClRotation() {
|
||
|
|
ARM_DIRECT.SetState(LOW);
|
||
|
|
ARM_SPEED.SetAnalogState(this->nt_cl_speed);
|
||
|
|
debugMSG("Clockwise Rotation");
|
||
|
|
}
|
||
|
|
void CcRotation() {
|
||
|
|
ARM_DIRECT.SetState(HIGH);
|
||
|
|
ARM_SPEED.SetAnalogState(this->nt_cc_speed);
|
||
|
|
debugMSG("Counter Clockwise Rotation");
|
||
|
|
}
|
||
|
|
void SetClSpeed(int Speed) {
|
||
|
|
if (Speed >= 0 && Speed <= 255) {
|
||
|
|
this->nt_cl_speed = Speed;
|
||
|
|
debugMSG("nt_cl_speed : " + String(Speed));
|
||
|
|
} else {
|
||
|
|
debugMSG("Invalid value : " + String(Speed) + " is not in range (0-255)");
|
||
|
|
}
|
||
|
|
}
|
||
|
|
void SetCcSpeed(int Speed) {
|
||
|
|
if (Speed >= 0 && Speed <= 255) {
|
||
|
|
this->nt_cc_speed = Speed;
|
||
|
|
debugMSG("nt_cc_speed : " + String(Speed));
|
||
|
|
} else {
|
||
|
|
debugMSG("Invalid value : " + String(Speed) + " is not in range (0-255)");
|
||
|
|
}
|
||
|
|
}
|
||
|
|
int GetClSpeed() {
|
||
|
|
debugMSG("nt_cl_speed : " + String(this->nt_cl_speed));
|
||
|
|
return this->nt_cl_speed;
|
||
|
|
}
|
||
|
|
int GetCcSpeed() {
|
||
|
|
debugMSG("nt_cc_speed : " + String(this->nt_cc_speed));
|
||
|
|
return this->nt_cc_speed;
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
Gantry GANTRY = Gantry(NtClSpeed, NtCcSpeed);
|
||
|
|
|
||
|
|
#endif
|