HTequi/HTequi-firmware/lib/Atm_lien/Atm_Teenstep.h

#pragma once

#if defined(__MK20DX128__) || defined(__MK20DX256__) || defined(__MK64FX512__) || defined(__MK66FX1M0__)

#include <Automaton.h>
#include <TeensyStep.h>

class Atm_Teenstep: public Machine {

 public:
   enum { DISABLED, ENABLED, RUNNING, STOPPING, EMERGENCY_STOP, HOMING_HIGH, HOMING_LOW }; // STATES
   enum { EVT_HOMING_LOW, EVT_HOMING_HIGH, EVT_MOVE_TIMEOUT, EVT_LIMIT_HIGH, EVT_LIMIT_LOW, EVT_EMERGENCYSTOP, EVT_STOP, EVT_ONTARGET, EVT_MOVE, EVT_DISABLE, EVT_ENABLE, ELSE }; // EVENTS
  Atm_Teenstep( void ) : Machine() {};
  Atm_Teenstep& begin( Stepper & motorRef, StepControl & stepControlRef );
  Atm_Teenstep& trace( Stream & stream );
  Atm_Teenstep& trigger( int event );
  int state( void );
  Atm_Teenstep& onChange( Machine& machine, int event = 0 );
  Atm_Teenstep& onChange( atm_cb_push_t callback, int idx = 0 );
  Atm_Teenstep& onChangeposition( Machine& machine, int event = 0 );
  Atm_Teenstep& onChangeposition( atm_cb_push_t callback, int idx = 0 );
  Atm_Teenstep& onLimithigh( Machine& machine, int event = 0 );
  Atm_Teenstep& onLimithigh( atm_cb_push_t callback, int idx = 0 );
  Atm_Teenstep& onLimitlow( Machine& machine, int event = 0 );
  Atm_Teenstep& onLimitlow( atm_cb_push_t callback, int idx = 0 );
  Atm_Teenstep& homing_low( void );
  Atm_Teenstep& homing_high( void );
  Atm_Teenstep& move_timeout( void );
  Atm_Teenstep& limit_high( void );
  Atm_Teenstep& limit_low( void );
  Atm_Teenstep& emergencystop( void );
  Atm_Teenstep& stop( void );
  Atm_Teenstep& ontarget( void );
  Atm_Teenstep& move( void );
  Atm_Teenstep& disable( void );
  Atm_Teenstep& enable( void );


  Atm_Teenstep& move( long int stepRel );
  Atm_Teenstep& moveTo( long int stepAbs );
  Atm_Teenstep& homing( bool direction );

  Atm_Teenstep& setLimitType( int limitType = 0);
  Atm_Teenstep& setLimitPins( int limitPinLow);
  Atm_Teenstep& setLimitPins( int limitPinLow, int limitPinHigh);
  Atm_Teenstep& limitReversed( bool reversed );
  Atm_Teenstep& limitThresholds( int limitThreshold0, int limitThreshold1,
                                  int limitThreshold2, int limitThreshold3);
  bool limitState[2] ; // up to two limits, at least one for homing

  virtual Atm_Teenstep& onOSC( void );
  virtual Atm_Teenstep& sendOSC( void );

  Stepper * motor;
  StepControl * controller;

  Atm_Teenstep& setEnablePin( int enablePin );
  Atm_Teenstep& enableReversed( bool reverse );
  bool enabled ;



 private:
  enum { ENT_DISABLED, ENT_ENABLED, ENT_RUNNING, LP_RUNNING, ENT_STOPPING, ENT_EMERGENCY_STOP, ENT_HOMING_HIGH, EXT_HOMING_HIGH, ENT_HOMING_LOW, EXT_HOMING_LOW }; // ACTIONS
  enum { ON_CHANGE, ON_CHANGEPOSITION, ON_LIMITHIGH, ON_LIMITLOW, CONN_MAX }; // CONNECTORS
  atm_connector connectors[CONN_MAX];
  int event( int id );
  void action( int id );

  atm_timer_millis idle_timer ;
  int IDLE_TIMEOUT_DURATION = 500000 ;
  atm_timer_millis moving_timer ;
  int MOVING_TIMEOUT_DURATION = 12000000 ;
  atm_counter homing_counterout ;

  long int _currentStep = 0;
  long int _targetStep = 0;
  long int _maxStep ;

  int _enablePin = -1;
  bool _enableReversed = 0 ;

  int _limitPin[2];
  enum { NONE, DIGITAL_1, DIGITAL_2, ANALOG_1 };
  int _limitType; //type of limit switch, from list over
  bool _limitReversed ; //invert logic of limit switches
  int _limitThresholds[4] ; //analog value  range for two analog limits
  void updateLimitSwitch();
};

#endif

/*
Automaton::ATML::begin - Automaton Markup Language

<?xml version="1.0" encoding="UTF-8"?>
<machines>
  <machine name="Atm_Teenstep">
    <states>
      <DISABLED index="0" on_enter="ENT_DISABLED">
        <EVT_ENABLE>ENABLED</EVT_ENABLE>
      </DISABLED>
      <ENABLED index="1" on_enter="ENT_ENABLED">
        <EVT_MOVE>RUNNING</EVT_MOVE>
        <EVT_DISABLE>DISABLED</EVT_DISABLE>
      </ENABLED>
      <RUNNING index="2" on_enter="ENT_RUNNING" on_loop="LP_RUNNING">
        <EVT_LIMIT_HIGH>EMERGENCY_STOP</EVT_LIMIT_HIGH>
        <EVT_LIMIT_LOW>EMERGENCY_STOP</EVT_LIMIT_LOW>
        <EVT_EMERGENCYSTOP>EMERGENCY_STOP</EVT_EMERGENCYSTOP>
        <EVT_STOP>STOPPING</EVT_STOP>
        <EVT_ONTARGET>ENABLED</EVT_ONTARGET>
        <EVT_MOVE>RUNNING</EVT_MOVE>
      </RUNNING>
      <STOPPING index="3" on_enter="ENT_STOPPING">
        <EVT_LIMIT_HIGH>EMERGENCY_STOP</EVT_LIMIT_HIGH>
        <EVT_LIMIT_LOW>EMERGENCY_STOP</EVT_LIMIT_LOW>
        <EVT_EMERGENCYSTOP>EMERGENCY_STOP</EVT_EMERGENCYSTOP>
        <EVT_MOVE>RUNNING</EVT_MOVE>
      </STOPPING>
      <EMERGENCY_STOP index="4" on_enter="ENT_EMERGENCY_STOP">
        <EVT_MOVE>RUNNING</EVT_MOVE>
        <EVT_ENABLE>ENABLED</EVT_ENABLE>
      </EMERGENCY_STOP>
      <HOMING_HIGH index="5" on_enter="ENT_HOMING_HIGH" on_exit="EXT_HOMING_HIGH">
        <EVT_LIMIT_HIGH>ENABLED</EVT_LIMIT_HIGH>
        <EVT_LIMIT_LOW>EMERGENCY_STOP</EVT_LIMIT_LOW>
        <EVT_EMERGENCYSTOP>EMERGENCY_STOP</EVT_EMERGENCYSTOP>
        <EVT_STOP>STOPPING</EVT_STOP>
      </HOMING_HIGH>
      <HOMING_LOW index="6" on_enter="ENT_HOMING_LOW" on_exit="EXT_HOMING_LOW">
        <EVT_LIMIT_HIGH>EMERGENCY_STOP</EVT_LIMIT_HIGH>
        <EVT_LIMIT_LOW>ENABLED</EVT_LIMIT_LOW>
        <EVT_EMERGENCYSTOP>EMERGENCY_STOP</EVT_EMERGENCYSTOP>
        <EVT_STOP>STOPPING</EVT_STOP>
      </HOMING_LOW>
    </states>
    <events>
      <EVT_MOVE_TIMEOUT index="0" access="MIXED"/>
      <EVT_LIMIT_HIGH index="1" access="MIXED"/>
      <EVT_LIMIT_LOW index="2" access="MIXED"/>
      <EVT_EMERGENCYSTOP index="3" access="MIXED"/>
      <EVT_STOP index="4" access="MIXED"/>
      <EVT_ONTARGET index="5" access="MIXED"/>
      <EVT_MOVE index="6" access="MIXED"/>
      <EVT_DISABLE index="7" access="MIXED"/>
      <EVT_ENABLE index="8" access="MIXED"/>
    </events>
    <connectors>
      <CHANGE autostore="0" broadcast="0" dir="PUSH" slots="1"/>
      <CHANGEPOSITION autostore="0" broadcast="0" dir="PUSH" slots="1"/>
      <LIMITHIGH autostore="0" broadcast="0" dir="PUSH" slots="1"/>
      <LIMITLOW autostore="0" broadcast="0" dir="PUSH" slots="1"/>
    </connectors>
    <methods>
    </methods>
  </machine>
</machines>

Automaton::ATML::end
*/