80 lines
2.2 KiB
C++
80 lines
2.2 KiB
C++
/*
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epple2
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Copyright © 2019, Christopher Alan Mosher, Shelton, CT, USA. <cmosher01@gmail.com>
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY, without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "disk2steppermotorrotor.h"
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/**
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* @brief positive_modulo
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* @param x value to constrain
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* @param n modulus
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* @return constrained value
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*/
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static int positive_modulo(const int x, const int n) {
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return (x%n + n) % n;
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}
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/**
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* @brief
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* Constrains x to within range (-n,n)
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* representing movements around a circle
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* @param x value to constrain
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* @param n range
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* @return constrained value
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*/
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static int cyclic_motion(int x, const int n) {
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while (x <= -n) {
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x += 2*n;
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}
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while (+n <= x) {
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x -= 2*n;
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}
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return x%n;
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}
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Disk2StepperMotorRotor::Disk2StepperMotorRotor(const int total_can_stack, Movable& movable):
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total_can_stack(total_can_stack),
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movable(movable) {
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}
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void Disk2StepperMotorRotor::pend_rotation() {
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this->ticks_pending = 1000; // about 1 millisecond delay due to inertia
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}
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void Disk2StepperMotorRotor::tick(const MagneticField &magnetic_field) {
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if (this->ticks_pending) {
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--this->ticks_pending;
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if (!this->ticks_pending) {
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if (magnetic_field.is_on()) {
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rotate_to(magnetic_field.position());
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}
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}
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}
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}
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void Disk2StepperMotorRotor::rotate_to(const int new_position) {
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const int potential_movement = cyclic_motion(new_position-this->position, this->total_can_stack*2);
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if (potential_movement && this->movable.move_by(potential_movement)) {
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this->position = positive_modulo(this->position+potential_movement, this->total_can_stack*4);
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}
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}
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