#include <stepper.h>

Inheritance diagram for StepperMotor:

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Collaboration diagram for StepperMotor:

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Public Member Functions
	StepperMotor ()

void	initialize (StepperHw *hardware, int totalSteps)

void	ThreadTask () override

Public Member Functions inherited from StepperMotorBase
void	doIteration ()

void	setTargetPosition (float targetPositionSteps)

float	getTargetPosition () const

bool	isBusy () const

Additional Inherited Members
Data Fields inherited from StepperMotorBase
int	m_currentPosition = 0

int	m_totalSteps = 0

Protected Member Functions inherited from StepperMotorBase
void	setInitialPosition (void)

void	saveStepperPos (int pos)

int	loadStepperPos ()

void	changeCurrentPosition (bool positive)

void	postCurrentPosition (void)

Protected Attributes inherited from StepperMotorBase
StepperHw *	m_hw = nullptr

float	m_targetPosition = 0

bool	initialPositionSet = false

bool	m_isBusy = false

Private Member Functions inherited from ThreadController< UTILITY_THREAD_STACK_SIZE >
	ThreadController (const char *name, tprio_t priority)

void	start ()
	Start the thread.

void	stop ()
	Request thread termination and waits for termination.

void	main () override

Private Attributes inherited from ThreadController< UTILITY_THREAD_STACK_SIZE >
const char *const	m_name

Detailed Description

Definition at line 97 of file stepper.h.

Constructor & Destructor Documentation

◆ StepperMotor()

StepperMotor::StepperMotor ( )

inline

Definition at line 99 of file stepper.h.

99: ThreadController("stepper", PRIO_STEPPER) {}

ThreadController

A base class for a controller that requires its own thread.

Definition thread_controller.h:19

Member Function Documentation

◆ initialize()

void StepperMotor::initialize	(	StepperHw *	hardware,
		int	totalSteps
	)

virtual

Reimplemented from StepperMotorBase.

Definition at line 211 of file stepper.cpp.

                                                                 {
    StepperMotorBase::initialize(hardware, totalSteps);
 
    start();
}

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◆ ThreadTask()

void StepperMotor::ThreadTask ( )

inlineoverridevirtual

Implements ThreadController< UTILITY_THREAD_STACK_SIZE >.

Definition at line 103 of file stepper.h.

                               {
        // Require hardware to be set
        if (!m_hw) {
            return;
        }
 
        while (true) {
            doIteration();
        }
    }