accelstepper machine base

move and moveto, stop methods

Atm_AccelStepper.cpp

@@ -7,19 +7,21 @@
 Atm_AccelStepper& Atm_AccelStepper::begin(int step_pin, int dir_pin) {
   // clang-format off
   const static state_t state_table[] PROGMEM = {
-    /*                       ON_ENTER     ON_LOOP          ON_EXIT  EVT_DISABLE  EVT_ENABLE  EVT_ENABLED_TIMEOUT  EVT_STOP  EVT_EMERGENCY_STOP  EVT_ON_LIMIT_LOW  EVT_ON_LIMIT_HIGH  EVT_ON_TARGET  ELSE */
-    /*    DISABLED */    ENT_DISABLED,         -1,              -1,          -1,    ENABLED,                  -1,       -1,                 -1,               -1,                -1,            -1,   -1,
-    /*     ENABLED */     ENT_ENABLED,         -1,              -1,    DISABLE,         -1,            DISABLED,     STOP,               STOP,               -1,                -1,            -1,   -1,
-    /*     RUNNING */     ENT_RUNNING, LP_RUNNING,              -1,    DISABLE,         -1,                  -1,     STOP,               STOP,        LIMIT_LOW,        LIMIT_HIGH,       ENABLED,   -1,
-    /*        STOP */              -1,         -1,              -1,    DISABLE,         -1,                  -1,     STOP,               STOP,               -1,                -1,            -1,   -1,
-    /*  HOMING_LOW */  ENT_HOMING_LOW,         -1,  EXT_HOMING_LOW,    DISABLE,         -1,                  -1,     STOP,               STOP,          ENABLED,                -1,            -1,   -1,
-    /* HOMING_HIGH */ ENT_HOMING_HIGH,         -1, EXT_HOMING_HIGH,    DISABLE,         -1,                  -1,     STOP,               STOP,               -1,           ENABLED,            -1,   -1,
-    /*   LIMIT_LOW */   ENT_LIMIT_LOW,         -1,              -1,          -1,         -1,                  -1,     STOP,               STOP,        LIMIT_LOW,                -1,            -1,   -1,
-    /*  LIMIT_HIGH */  ENT_LIMIT_HIGH,         -1,              -1,          -1,         -1,                  -1,     STOP,               STOP,               -1,        LIMIT_HIGH,            -1,   -1,
+    /*                       ON_ENTER     ON_LOOP          ON_EXIT  EVT_DISABLE  EVT_ENABLE  EVT_ENABLED_TIMEOUT  EVT_MOVE  EVT_STOP  EVT_EMERGENCY_STOP  EVT_ON_LIMIT_LOW  EVT_ON_LIMIT_HIGH  EVT_ON_TARGET  ELSE */
+    /*    DISABLED */    ENT_DISABLED,         -1,              -1,          -1,    ENABLED,                 -1,   RUNNING,        -1,                -1,               -1,                -1,            -1,   -1,
+    /*     ENABLED */     ENT_ENABLED,         -1,              -1,    DISABLE,         -1,             DISABLE,   RUNNING,      STOP,              STOP,               -1,                -1,            -1,   -1,
+    /*     RUNNING */     ENT_RUNNING, LP_RUNNING,              -1,    DISABLE,         -1,                  -1,   RUNNING,      STOP,              STOP,        LIMIT_LOW,        LIMIT_HIGH,       ENABLED,   -1,
+    /*        STOP */        ENT_STOP,         -1,              -1,    DISABLE,         -1,                  -1,   RUNNING,        -1,              STOP,               -1,                -1,            -1,   -1,
+    /*  HOMING_LOW */  ENT_HOMING_LOW,         -1,  EXT_HOMING_LOW,    DISABLE,         -1,                  -1,        -1,      STOP,              STOP,             STOP,                -1,            -1,   -1,
+    /* HOMING_HIGH */ ENT_HOMING_HIGH,         -1, EXT_HOMING_HIGH,    DISABLE,         -1,                  -1,        -1,      STOP,              STOP,               -1,              STOP,            -1,   -1,
+    /*   LIMIT_LOW */   ENT_LIMIT_LOW,         -1,              -1,          -1,         -1,                  -1,  RUNNING,      STOP,              STOP,        LIMIT_LOW,                -1,            -1,   -1,
+    /*  LIMIT_HIGH */  ENT_LIMIT_HIGH,         -1,              -1,          -1,         -1,                  -1,  RUNNING,      STOP,              STOP,               -1,        LIMIT_HIGH,            -1,   -1,
   };
   // clang-format on
   Machine::begin( state_table, ELSE );
   stepper = new AccelStepper(1, step_pin, dir_pin);
+  stepper->setMaxSpeed(1000);
+  stepper->setAcceleration(100);
   idle_timer.set(ATM_TIMER_OFF);
   return *this;
 }
@@ -37,6 +39,8 @@ int Atm_AccelStepper::event( int id ) {
       return 0;
     case EVT_ENABLED_TIMEOUT:
       return 0;
+    case EVT_MOVE:
+      return 0;
     case EVT_STOP:
       return 0;
     case EVT_EMERGENCY_STOP:
@@ -89,27 +93,52 @@ int Atm_AccelStepper::event( int id ) {
 
 void Atm_AccelStepper::action( int id ) {
   switch ( id ) {
+    long int tempStep ;
     case ENT_DISABLED:
-      push(connectors, ON_CHANGE, 0,  state(), 0);
+      push(connectors, ON_CHANGESTATE, 0,  state(), 0);
       enabled = _enableReversed ? HIGH : LOW;
       digitalWrite(_enablePin, enabled);
       return;
     case ENT_ENABLED:
-      push(connectors, ON_CHANGE, 0,  state(), 0);
+      push(connectors, ON_CHANGESTATE, 0,  state(), 0);
       enabled = _enableReversed ? LOW : HIGH ;
       digitalWrite(_enablePin, enabled);
-      sendOSC();
       return;
     case ENT_RUNNING:
-      push(connectors, ON_CHANGE, 0,  state(), 0);
-      push(connectors, ON_CHANGE, 0,  2, 0);
+      push(connectors, ON_CHANGESTATE, 0,  state(), 0);
+
       return;
     case LP_RUNNING:
-      tempStep = motor->getPosition();
+
+      switch (runMode) {
+        case 0:
+          stepper->run();
+          break;
+        case 1:
+          stepper->runSpeed();
+          break;
+      }
+
+      tempStep = stepper->currentPosition();
       if (tempStep != _currentStep){
         _currentStep =  tempStep;
-        push(connectors, ON_CHANGEPOSITION, 0,  _currentStep, 0);
+        push(connectors, ON_CHANGEPOSITION, 0,  tempStep, 0);
       }
+
+      return;
+    case ENT_STOP:
+    push(connectors, ON_CHANGESTATE, 0,  state(), 0);
+    stepper->stop();
+    push( connectors, ON_STOP, 0, 0, 0 );
+      if (last_trigger == EVT_STOP) {
+        stepper->stop();
+        push( connectors, ON_STOP, 0, 0, 0 );
+      }
+      if (last_trigger == EVT_EMERGENCY_STOP) {
+        stepper->setSpeed(0);
+        push( connectors, ON_STOP, 0, 1, 0 );
+      }
+      return;
     case ENT_HOMING_LOW:
       return;
     case EXT_HOMING_LOW:
@@ -146,6 +175,32 @@ int Atm_AccelStepper::state( void ) {
  ************************************************************************************************
 */
 
+/* Still I'll customize a little just here
+*/
+
+Atm_AccelStepper& Atm_AccelStepper::move( long int stepRel) {
+  _targetStep   = _currentStep + stepRel;
+  //Serial.println(_targetStep);
+  stepper->move(_targetStep);
+  enable();
+  trigger( EVT_MOVE );
+  return *this;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::moveTo( long int stepAbs) {
+  _targetStep   = stepAbs;
+  stepper->moveTo(_targetStep);
+  enable();
+  trigger( EVT_MOVE );
+  return *this;
+}
+
+Atm_AccelStepper& Atm_AccelStepper::rotate( long int speed) {
+  trigger( EVT_MOVE );
+  return *this;
+}
+
+
 /* Public event methods
  *
  */
@@ -160,6 +215,11 @@ Atm_AccelStepper& Atm_AccelStepper::enable() {
   return *this;
 }
 
+// Atm_AccelStepper& Atm_AccelStepper::move() {
+//   trigger( EVT_MOVE );
+//   return *this;
+// }
+
 Atm_AccelStepper& Atm_AccelStepper::stop() {
   trigger( EVT_STOP );
   return *this;
@@ -185,6 +245,8 @@ Atm_AccelStepper& Atm_AccelStepper::on_target() {
   return *this;
 }
 
+
+
 /*
  * onChangeposition() push connector variants ( slots 1, autostore 0, broadcast 0 )
  */
@@ -275,6 +337,6 @@ Atm_AccelStepper& Atm_AccelStepper::onStop( atm_cb_push_t callback, int idx ) {
 
 Atm_AccelStepper& Atm_AccelStepper::trace( Stream & stream ) {
   Machine::setTrace( &stream, atm_serial_debug::trace,
-    "ACCELSTEPPER\0EVT_DISABLE\0EVT_ENABLE\0EVT_ENABLED_TIMEOUT\0EVT_STOP\0EVT_EMERGENCY_STOP\0EVT_ON_LIMIT_LOW\0EVT_ON_LIMIT_HIGH\0EVT_ON_TARGET\0ELSE\0DISABLED\0ENABLED\0RUNNING\0STOP\0HOMING_LOW\0HOMING_HIGH\0LIMIT_LOW\0LIMIT_HIGH" );
+    "ACCELSTEPPER\0EVT_DISABLE\0EVT_ENABLE\0EVT_ENABLED_TIMEOUT\0EVT_MOVE\0EVT_STOP\0EVT_EMERGENCY_STOP\0EVT_ON_LIMIT_LOW\0EVT_ON_LIMIT_HIGH\0EVT_ON_TARGET\0ELSE\0DISABLED\0ENABLED\0RUNNING\0STOP\0HOMING_LOW\0HOMING_HIGH\0LIMIT_LOW\0LIMIT_HIGH" );
   return *this;
 }

Atm_AccelStepper.h

@@ -7,7 +7,7 @@ class Atm_AccelStepper: public Machine {
 
  public:
   enum { DISABLE, ENABLED, RUNNING, STOP, HOMING_LOW, HOMING_HIGH, LIMIT_LOW, LIMIT_HIGH }; // STATES
-  enum { EVT_DISABLE, EVT_ENABLE, EVT_ENABLED_TIMEOUT, EVT_STOP, EVT_EMERGENCY_STOP, EVT_ON_LIMIT_LOW, EVT_ON_LIMIT_HIGH, EVT_ON_TARGET, ELSE }; // EVENTS
+  enum { EVT_DISABLE, EVT_ENABLE, EVT_ENABLED_TIMEOUT, EVT_MOVE, EVT_STOP, EVT_EMERGENCY_STOP, EVT_ON_LIMIT_LOW, EVT_ON_LIMIT_HIGH, EVT_ON_TARGET, ELSE }; // EVENTS
   Atm_AccelStepper( void ) : Machine() {};
   Atm_AccelStepper& begin( int step_pin, int dir_pin );
   Atm_AccelStepper& trace( Stream & stream );
@@ -27,6 +27,7 @@ class Atm_AccelStepper: public Machine {
   Atm_AccelStepper& onStop( atm_cb_push_t callback, int idx = 0 );
   Atm_AccelStepper& disable( void );
   Atm_AccelStepper& enable( void );
+  //Atm_AccelStepper& move( void );
   Atm_AccelStepper& stop( void );
   Atm_AccelStepper& emergency_stop( void );
   Atm_AccelStepper& on_limit_low( void );
@@ -37,9 +38,9 @@ class Atm_AccelStepper: public Machine {
 
   Atm_AccelStepper& move( long int stepRel );
   Atm_AccelStepper& moveTo( long int stepAbs );
-  Atm_AccelStepper& rotate( long int Speed );
+  Atm_AccelStepper& rotate( long int speed );
   Atm_AccelStepper& homing( bool direction );
-  bool runMode = 0; // 0 uses run() for positioning, 1 uses runSpeed() for constant speed
+  int runMode = 0; // 0 uses run() for positioning, 1 uses runSpeed() for constant speed
 
   Atm_AccelStepper& setEnablePin( int enablePin );
   Atm_AccelStepper& enableReversed( bool reverse );
@@ -55,7 +56,7 @@ class Atm_AccelStepper: public Machine {
 
 
  private:
-  enum { ENT_DISABLED, ENT_ENABLED,ENT_RUNNING, LP_RUNNING, ENT_HOMING_LOW, EXT_HOMING_LOW, ENT_HOMING_HIGH, EXT_HOMING_HIGH, ENT_LIMIT_LOW, ENT_LIMIT_HIGH }; // ACTIONS
+  enum { ENT_DISABLED, ENT_ENABLED,ENT_RUNNING, LP_RUNNING, ENT_STOP, ENT_HOMING_LOW, EXT_HOMING_LOW, ENT_HOMING_HIGH, EXT_HOMING_HIGH, ENT_LIMIT_LOW, ENT_LIMIT_HIGH }; // ACTIONS
   enum { ON_CHANGEPOSITION, ON_CHANGESTATE, ON_ONLIMITHIGH, ON_ONLIMITLOW, ON_ONTARGET, ON_STOP, CONN_MAX }; // CONNECTORS
   atm_connector connectors[CONN_MAX];
   int event( int id );