StepperPWM.h

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/* Copyright (c) 2022 Skyward Experimental Rocketry
 * Authors: Alberto Nidasio, Emilio Corigliano
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#pragma once
 
#include <interfaces-impl/gpio_impl.h>
#include <interfaces/delays.h>
#include <utils/TestUtils/MockGpioPin.h>
 
#include "Stepper.h"
#include "drivers/timer/CountedPWM.h"
 
namespace Boardcore
{
 
class StepperPWM : public Stepper
{
public:
    StepperPWM(
        CountedPWM& pwm, miosix::GpioPin stepPin, miosix::GpioPin directionPin,
        float speed = 1, float stepAngle = 1.8, bool revertDirection = false,
        uint16_t microStep                = 1,
        PinConfiguration pinConfiguration = PinConfiguration::COMMON_CATHODE,
        miosix::GpioPin enablePin         = MockGpioPin());
 
    void setSpeed(float speed) override;
 
    void setMicroStepping(uint16_t microStep) override;
 
    void move(int16_t steps) override;
 
    float getCurrentDegPosition() override;
 
private:
    // This class is not copyable!
    StepperPWM& operator=(const StepperPWM&) = delete;
    StepperPWM(const StepperPWM& p)          = delete;
 
    void setDirection();
 
    CountedPWM& pwm;
};
 
}  // namespace Boardcore