58 lines
1.4 KiB
C++
58 lines
1.4 KiB
C++
#include <Arduino.h>
|
|
#include "motor_control.h"
|
|
#include "pitch_table.h"
|
|
|
|
MotorControl::MotorControl(int pin_dir, int pin_step) :
|
|
pin_dir(pin_dir), pin_step(pin_step),
|
|
last_tick_micros(0), tick_period_micros(0)
|
|
{
|
|
// No actual constructor logic -- initialization is in Init()
|
|
}
|
|
|
|
void MotorControl::Init() {
|
|
// Initialize the pin state
|
|
pinMode(pin_dir, OUTPUT);
|
|
pinMode(pin_step, OUTPUT);
|
|
digitalWrite(pin_dir, LOW);
|
|
digitalWrite(pin_step, LOW);
|
|
}
|
|
|
|
void MotorControl::TickOn(unsigned long period_micros) {
|
|
tick_period_micros = period_micros;
|
|
// Force the next tick to happen
|
|
last_tick_micros = 0;
|
|
}
|
|
|
|
void MotorControl::TickAtPitch(unsigned int midi_pitch) {
|
|
// Bounds check
|
|
if (midi_pitch < midi_pitch_offset || midi_pitch >= midi_pitch_max) {
|
|
return;
|
|
}
|
|
|
|
TickOn(midi_pitch_period[midi_pitch - midi_pitch_offset]);
|
|
}
|
|
|
|
void MotorControl::TickOff() {
|
|
tick_period_micros = 0;
|
|
}
|
|
|
|
void MotorControl::Tick(unsigned long cur_micros) {
|
|
if (cur_micros == 0) {
|
|
return;
|
|
}
|
|
|
|
if (tick_period_micros == 0) {
|
|
return;
|
|
}
|
|
|
|
if (last_tick_micros == 0 || (cur_micros - last_tick_micros) >= tick_period_micros) {
|
|
DoTick();
|
|
last_tick_micros = cur_micros;
|
|
}
|
|
}
|
|
|
|
void MotorControl::DoTick() {
|
|
// Pulse the step pin once
|
|
digitalWrite(pin_step, HIGH);
|
|
digitalWrite(pin_step, LOW);
|
|
} |