Go to the documentation of this file.
00001 /*
00002  * Copyright (c) 2011, Make, Hack, Void Inc
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *  * Redistributions of source code must retain the above copyright
00008  *    notice, this list of conditions and the following disclaimer.
00009  *  * Redistributions in binary form must reproduce the above copyright
00010  *    notice, this list of conditions and the following disclaimer in the
00011  *    documentation and/or other materials provided with the distribution.
00012  *  * Neither the name of the Make, Hack, Void nor the
00013  *    names of its contributors may be used to endorse or promote products
00014  *    derived from this software without specific prior written permission.
00015  *
00016  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00017  * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00018  * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00019  * DISCLAIMED. IN NO EVENT SHALL MAKE, HACK, VOID BE LIABLE FOR ANY
00020  * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00021  * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00022  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00023  * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00024  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00025  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00026  */
00027 
00028 #ifndef MHV_STEPPERMOTOR_H_
00029 #define MHV_STEPPERMOTOR_H_
00030 
00031 #include <MHV_io.h>
00032 #include <MHV_RTC.h>
00033 
00034 class MHV_StepperListener {
00035 public:
00036         virtual void moveComplete(int32_t position);
00037 };
00038 
00039 class MHV_StepperMotor : public MHV_AlarmListener {
00040 private:
00041         int32_t                         _position;
00042         MHV_RTC                         &_rtc;
00043         bool                            _moving;
00044         bool                            _forward;
00045         float                           _speed;
00046         int32_t                         _until;
00047         MHV_TIMESTAMP           _started;
00048         int32_t                         _startPosition;
00049         MHV_StepperListener     *_stepperListener;
00050 
00051 public:
00052         MHV_StepperMotor(MHV_RTC &rtc);
00053         virtual void step(bool forward) =0;
00054         void setPosition(int32_t position);
00055         bool isMoving();
00056         int32_t getPosition();
00057         void rotate(bool forward, float speed, int32_t until);
00058         void alarm(const MHV_ALARM &alarm);
00059         void registerListener(MHV_StepperListener &listener);
00060         void deregisterListener();
00061 };
00062 
00063 #endif /* MHV_STEPPERMOTOR_H_ */