C:/usr/src/avr/plotter/motori.h File Reference

Go to the source code of this file.

Data Structures
struct	_stepper_xy
struct	_user_xy
Typedefs
typedef int16_t	STEPPER_COORD
	User coordinates used in input, arc calculation etc.
typedef double	USER_COORD
typedef struct _stepper_xy	STEPPER_POINT
typedef struct _user_xy	USER_POINT
typedef enum _acceleration_modes	ACCEL_MODE
Enumerations
enum	_acceleration_modes {   ACCEL_FIXSLOW = 0, ACCEL_FIXFAST, ACCEL_FIXMEDIUM, ACCEL_ACCEL,   ACCEL_DECEL }
Functions
void	step (int8_t xdir, int8_t ydir)
void	set_acceleration (ACCEL_MODE accel_mode, uint8_t steep)
void	pen_control (uint8_t down)
void	plotter_init ()

---

Typedef Documentation

typedef enum _acceleration_modes ACCEL_MODE

Acceleration modes. See configs.h for marginal values.

typedef int16_t STEPPER_COORD

User coordinates used in input, arc calculation etc.

< Absolute coordinates used for stepper motion. Negative means invalid.

Definition at line 8 of file motori.h.

typedef struct _stepper_xy STEPPER_POINT

typedef double USER_COORD

Definition at line 9 of file motori.h.

typedef struct _user_xy USER_POINT

---

Enumeration Type Documentation

enum _acceleration_modes

Acceleration modes. See configs.h for marginal values.

Enumerator:

ACCEL_FIXSLOW	Move slowly, fixed speed.
ACCEL_FIXFAST	Move fast, fastest possible speed.
ACCEL_FIXMEDIUM	Fixed average speed.
ACCEL_ACCEL	Ramp speed up.
ACCEL_DECEL	Ramp speed down.

Definition at line 23 of file motori.h.

---

Function Documentation

void pen_control

(

uint8_t

down

)

Controls the pen position. Both servo and solenoid actuators. Causes immediate delay to allow for the pen to settle.

Parameters:

down

true if pen should be down, 0 if raised

Definition at line 207 of file motori.c.

void plotter_init

(

)

Initialize plotter state. Move to home position, then reset everything, including motors and timers. Reset user scale and translation, raise the pen.

Definition at line 225 of file motori.c.

void set_acceleration	(	ACCEL_MODE	accel_mode,
		uint8_t	steep
	)

Set motor acceleration profile.

Since the motors are not equal, speed values depend on the prevalent moving axis.

Parameters:

	accel_mode	acceleration mode
	steep	true if Y axis is the main axis.

See also:

move_is_steep()

Definition at line 169 of file motori.c.

void step	(	int8_t	xdir,
		int8_t	ydir
	)

Issue the actual step commands to stepper controllers.

Parameters:

xdir,ydir

Direction +1/-1, 0 == stand still

Definition at line 160 of file motori.c.