70 lines
1.9 KiB
C++
70 lines
1.9 KiB
C++
/*
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epple2
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Copyright (C) 2008 by Christopher A. Mosher <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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#ifndef STEPPERMOTOR_H
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#define STEPPERMOTOR_H
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#include <cstdint>
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class StepperMotor {
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private:
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enum { QTRACKS = 160 };
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// quarter track: 0=t0, 1=t0.25, 2=t0.5, 3=t0.75, 4=t1, ... 140=t35.00 ... 159=t39.75
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// (see TMAP in WOZ2 file format spec)
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std::uint8_t quarterTrack;
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std::int8_t pos;
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std::uint8_t mags;
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std::int8_t pendingPos;
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std::uint32_t pendingTicks;
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static std::int8_t mapMagPos[];
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void moveCog();
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void calculateTrack(const std::int8_t delta);
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static std::int8_t calcDeltaPos(const std::int8_t cur, const std::int8_t next) {
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std::int8_t d = next-cur; // -7 to +7
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if (d == 4 || d == -4) {
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d = 0; // <--- TODO pick random direction?
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} else if (4 < d) {
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d -= 8;
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} else if (d < -4) {
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d += 8;
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}
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return d;
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}
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public:
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StepperMotor();
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~StepperMotor();
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void setMagnet(const std::uint8_t magnet, const bool on);
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std::uint8_t getTrack() {
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return this->quarterTrack >> 2;
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}
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std::uint8_t getQuarterTrack() {
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return this->quarterTrack;
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}
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void tick();
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};
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#endif
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