#pragma once
#include <Automaton.h>
#include <AccelStepper.h>
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_MOVE, EVT_STOP,
EVT_EMERGENCY_STOP, EVT_ON_LIMIT_LOW, EVT_ON_LIMIT_HIGH, EVT_ON_TARGET,
EVT_HOMING_LOW, EVT_HOMING_HIGH, ELSE }; // EVENTS
Atm_AccelStepper( void ) : Machine() {};
Atm_AccelStepper& begin( int step_pin, int dir_pin );
Atm_AccelStepper& trace( Stream & stream );
Atm_AccelStepper& trigger( int event );
int state( void );
Atm_AccelStepper& onChangeposition( Machine& machine, int event = 0 );
Atm_AccelStepper& onChangeposition( atm_cb_push_t callback, int idx = 0 );
Atm_AccelStepper& onChangestate( Machine& machine, int event = 0 );
Atm_AccelStepper& onChangestate( atm_cb_push_t callback, int idx = 0 );
Atm_AccelStepper& onOnlimithigh( Machine& machine, int event = 0 );
Atm_AccelStepper& onOnlimithigh( atm_cb_push_t callback, int idx = 0 );
Atm_AccelStepper& onOnlimitlow( Machine& machine, int event = 0 );
Atm_AccelStepper& onOnlimitlow( atm_cb_push_t callback, int idx = 0 );
Atm_AccelStepper& onOntarget( Machine& machine, int event = 0 );
Atm_AccelStepper& onOntarget( atm_cb_push_t callback, int idx = 0 );
Atm_AccelStepper& onStop( Machine& machine, int event = 0 );
Atm_AccelStepper& onStop( atm_cb_push_t callback, int idx = 0 );
Atm_AccelStepper& onOnhominglow( Machine& machine, int event = 0 );
Atm_AccelStepper& onOnhominglow( atm_cb_push_t callback, int idx = 0 );
Atm_AccelStepper& onOnhominghigh( Machine& machine, int event = 0 );
Atm_AccelStepper& onOnhominghigh( 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 );
Atm_AccelStepper& on_limit_high( void );
Atm_AccelStepper& on_target( void );
AccelStepper *stepper;
long int homing_speed = 500;
long int max_speed = 5000;
long int acceleration = 1000;
Atm_AccelStepper& setMaxSpeed( long int maxSpeed = 5000);
Atm_AccelStepper& setHomingSpeed( long int homingSpeed = 400);
Atm_AccelStepper& setAcceleration( long int acc = 1000);
Atm_AccelStepper& move( long int stepRel );
Atm_AccelStepper& moveTo( long int stepAbs );
Atm_AccelStepper& rotate( long int speed );
Atm_AccelStepper& homing( bool direction );
int runMode = 0; // 0 uses run() for positioning, 1 uses runSpeed() for constant speed
Atm_AccelStepper& position_refresh( long int refresh_ms = 1000);
Atm_AccelStepper& setEnablePin( int enablePin );
Atm_AccelStepper& enableReversed( bool reverse );
bool enabled ;
Atm_AccelStepper& limitLow_set(int mode = 0, int pin = -1, int reversed=0);
Atm_AccelStepper& limitLow_isHard(bool hardlimit = 1);
Atm_AccelStepper& limitLow_setThresholds (int threshold_low=510, int threshold_high = 1024);
Atm_AccelStepper& limitHigh_set(int mode = 0, int pin = -1, int reversed=0);
Atm_AccelStepper& limitHigh_isHard(bool hardlimit = 1);
Atm_AccelStepper& limitHigh_setThresholds (int threshold_low=510, int threshold_high = 1024);
bool limitLow_State;
bool limitHigh_State;
private:
enum { ENT_DISABLED, ENT_ENABLED,ENT_RUNNING, LP_RUNNING, ENT_STOP, LP_STOP, ENT_HOMING_LOW, LP_HOMING_LOW, EXT_HOMING_LOW, ENT_HOMING_HIGH, LP_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 );
void action( int id );
void stepper_update(void);
long int _currentStep = 0;
long int _targetStep = 0;
long int _maxStep ;
atm_timer_millis position_timer ;
int POSITION_SEND_TIMER = 0 ;
int _enablePin = -1;
bool _enableReversed = 0 ;
atm_timer_millis idle_timer ;
int IDLE_TIMEOUT_DURATION = 500000 ;
int _limitLow_Pin;
int _limitLow_Mode = 0; //0 no limit, 1 digital, 2 analog with thresholds
bool _limitLow_Reversed ; //invert logic of limit switches
int _limitLow_Thresholds[2] ; //analog value range for two analog limits
bool _limitLow_Hard = 1;
int _limitHigh_Pin;
int _limitHigh_Mode; //0 no limit, 1 digital, 2 analog with thresholds
bool _limitHigh_Reversed ; //invert logic of limit switches
int _limitHigh_Thresholds[2] ; //analog value range for two analog limits
bool _limitHigh_Hard = 1 ;
void updateLimitSwitch();
};
/*
Automaton::ATML::begin - Automaton Markup Language
<?xml version="1.0" encoding="UTF-8"?>
<machines>
<machine name="Atm_AccelStepper">
<states>
<DISABLED index="0" on_enter="ENT_DISABLED">
<EVT_ENABLE>ENABLED</EVT_ENABLE>
</DISABLED>
<ENABLED index="1" on_enter="ENT_ENABLED">
<EVT_DISABLE>DISABLED</EVT_DISABLE>
<EVT_ENABLED_TIMEOUT>DISABLED</EVT_ENABLED_TIMEOUT>
<EVT_STOP>STOP</EVT_STOP>
<EVT_EMERGENCY_STOP>STOP</EVT_EMERGENCY_STOP>
</ENABLED>
<RUNNING index="2" on_loop="LP_RUNNING">
<EVT_DISABLE>DISABLED</EVT_DISABLE>
<EVT_STOP>STOP</EVT_STOP>
<EVT_EMERGENCY_STOP>STOP</EVT_EMERGENCY_STOP>
<EVT_ON_LIMIT_LOW>LIMIT_LOW</EVT_ON_LIMIT_LOW>
<EVT_ON_LIMIT_HIGH>LIMIT_HIGH</EVT_ON_LIMIT_HIGH>
<EVT_ON_TARGET>ENABLED</EVT_ON_TARGET>
</RUNNING>
<STOP index="3">
<EVT_DISABLE>DISABLED</EVT_DISABLE>
<EVT_STOP>STOP</EVT_STOP>
<EVT_EMERGENCY_STOP>STOP</EVT_EMERGENCY_STOP>
</STOP>
<HOMING_LOW index="4" on_enter="ENT_HOMING_LOW" on_exit="EXT_HOMING_LOW">
<EVT_DISABLE>DISABLED</EVT_DISABLE>
<EVT_STOP>STOP</EVT_STOP>
<EVT_EMERGENCY_STOP>STOP</EVT_EMERGENCY_STOP>
<EVT_ON_LIMIT_LOW>ENABLED</EVT_ON_LIMIT_LOW>
</HOMING_LOW>
<HOMING_HIGH index="5" on_enter="ENT_HOMING_HIGH" on_exit="EXT_HOMING_HIGH">
<EVT_DISABLE>DISABLED</EVT_DISABLE>
<EVT_STOP>STOP</EVT_STOP>
<EVT_EMERGENCY_STOP>STOP</EVT_EMERGENCY_STOP>
<EVT_ON_LIMIT_HIGH>ENABLED</EVT_ON_LIMIT_HIGH>
</HOMING_HIGH>
<LIMIT_LOW index="6" on_enter="ENT_LIMIT_LOW">
<EVT_STOP>STOP</EVT_STOP>
<EVT_EMERGENCY_STOP>STOP</EVT_EMERGENCY_STOP>
<EVT_ON_LIMIT_LOW>LIMIT_LOW</EVT_ON_LIMIT_LOW>
</LIMIT_LOW>
<LIMIT_HIGH index="7" on_enter="ENT_LIMIT_HIGH">
<EVT_STOP>STOP</EVT_STOP>
<EVT_EMERGENCY_STOP>STOP</EVT_EMERGENCY_STOP>
<EVT_ON_LIMIT_HIGH>LIMIT_HIGH</EVT_ON_LIMIT_HIGH>
</LIMIT_HIGH>
</states>
<events>
<EVT_DISABLE index="0" access="MIXED"/>
<EVT_ENABLE index="1" access="MIXED"/>
<EVT_ENABLED_TIMEOUT index="2" access="PRIVATE"/>
<EVT_STOP index="3" access="MIXED"/>
<EVT_EMERGENCY_STOP index="4" access="MIXED"/>
<EVT_ON_LIMIT_LOW index="5" access="MIXED"/>
<EVT_ON_LIMIT_HIGH index="6" access="MIXED"/>
<EVT_ON_TARGET index="7" access="MIXED"/>
</events>
<connectors>
<CHANGEPOSITION autostore="0" broadcast="0" dir="PUSH" slots="1"/>
<CHANGESTATE autostore="0" broadcast="0" dir="PUSH" slots="1"/>
<ONLIMITHIGH autostore="0" broadcast="0" dir="PUSH" slots="1"/>
<ONLIMITLOW autostore="0" broadcast="0" dir="PUSH" slots="1"/>
<ONTARGET autostore="0" broadcast="0" dir="PUSH" slots="1"/>
<STOP autostore="0" broadcast="0" dir="PUSH" slots="1"/>
</connectors>
<methods>
</methods>
</machine>
</machines>
Automaton::ATML::end
*/