pulley.h

Go to the documentation of this file.

#pragma once
#include "../config/config.h"
#include "movable_base.h"
#include "motion.h"
 
namespace modules {
 
namespace pulley {
 
namespace mm = modules::motion;
 
class Pulley : public motion::MovableBase {
public:
    inline constexpr Pulley()
        : MovableBase(mm::Pulley) {}
 
    bool Step();
 
    void PlanMove(mm::P_pos_t delta, mm::P_speed_t feed_rate, mm::P_speed_t end_rate = { 0 });
 
    // NOTE: always_inline is required here to force gcc <= 7.x to evaluate each call at compile time
    void __attribute__((always_inline)) PlanMove(unit::U_mm delta, unit::U_mm_s feed_rate, unit::U_mm_s end_rate = { 0 }) {
        PlanMove(mm::unitToAxisUnit<mm::P_pos_t>(delta),
            mm::unitToAxisUnit<mm::P_speed_t>(feed_rate),
            mm::unitToAxisUnit<mm::P_speed_t>(end_rate));
    }
 
    int32_t CurrentPosition_mm();
 
    void InitAxis();
    void Disable();
 
protected:
    virtual void PrepareMoveToPlannedSlot() override {}
    virtual void PlanHomingMoveForward() override {}
    virtual void PlanHomingMoveBack() override {}
    virtual bool FinishHomingAndPlanMoveToParkPos() override;
    virtual void FinishMove() override {}
};
 
extern Pulley pulley;
 
} // namespace pulley
} // namespace modules
 
namespace mpu = modules::pulley;