71 lines
1.9 KiB
C++
71 lines
1.9 KiB
C++
#include <Arduino.h>
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#include "motor_control.h"
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#include "pitch_table.h"
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MotorControl::MotorControl(int pin_dir, int pin_step) :
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pin_dir(pin_dir), pin_step(pin_step),
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last_tick_half_micros(0), tick_period_half_micros(0),
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tick_period_orig_half_micros(0)
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{
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// No actual constructor logic -- initialization is in Init()
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}
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void MotorControl::Init() {
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// Initialize the pin state
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pinMode(pin_dir, OUTPUT);
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pinMode(pin_step, OUTPUT);
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digitalWrite(pin_dir, LOW);
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digitalWrite(pin_step, LOW);
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}
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void MotorControl::TickOn(unsigned long period_half_micros) {
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tick_period_half_micros = period_half_micros;
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tick_period_orig_half_micros = period_half_micros;
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// Force the next tick to happen
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last_tick_half_micros = 0;
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}
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void MotorControl::TickAtPitch(unsigned int midi_pitch) {
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// Bounds check
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if (midi_pitch < midi_pitch_offset || midi_pitch >= midi_pitch_max) {
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return;
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}
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TickOn(midi_pitch_period[midi_pitch - midi_pitch_offset]);
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}
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void MotorControl::TickPitchBend(int bend) {
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if (bend < 0 || bend >= 16384) return;
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if (tick_period_orig_half_micros == 0) return;
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// Scale the MIDI bend value down to 0 - 255
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bend = bend / 64;
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tick_period_half_micros = (unsigned long) (((float) tick_period_orig_half_micros) * midi_pitch_bend_scale[bend]);
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}
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void MotorControl::TickOff() {
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tick_period_half_micros = 0;
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tick_period_orig_half_micros = 0;
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}
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void MotorControl::Tick(unsigned long cur_half_micros) {
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if (cur_half_micros == 0) {
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return;
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}
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if (tick_period_half_micros == 0) {
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return;
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}
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if (last_tick_half_micros == 0 || (cur_half_micros - last_tick_half_micros) >= tick_period_half_micros) {
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DoTick();
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last_tick_half_micros = cur_half_micros;
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}
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}
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void MotorControl::DoTick() {
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// Pulse the step pin once
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digitalWrite(pin_step, HIGH);
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digitalWrite(pin_step, LOW);
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} |