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#ifndef __CPHIDGETSTEPPER
#define __CPHIDGETSTEPPER
#include "cphidget.h"
/** \defgroup phidstepper Phidget Stepper
* \ingroup phidgets
* Calls specific to the Phidget Stepper. See the product manual for more specific API details, supported functionality, units, etc.
* @{
*/
DPHANDLE(Stepper)
CHDRSTANDARD(Stepper)
/**
* Gets the number of digital inputs supported by this board.
* @param phid An attached phidget stepper handle.
* @param count The ditial input count.
*/
CHDRGET(Stepper,InputCount,int *count)
/**
* Gets the state of a digital input.
* @param phid An attached phidget stepper handle.
* @param index The input index.
* @param inputState The input state. Possible values are \ref PTRUE and \ref PFALSE.
*/
CHDRGETINDEX(Stepper,InputState,int *inputState)
/**
* Set a digital input change handler. This is called when a digital input changes.
* @param phid An attached phidget stepper handle.
* @param fptr Callback function pointer.
* @param userPtr A pointer for use by the user - this value is passed back into the callback function.
*/
CHDREVENTINDEX(Stepper,InputChange,int inputState)
/**
* Gets the number of motors supported by this controller
* @param phid An attached phidget stepper handle.
* @param count The motor count.
*/
CHDRGET(Stepper,MotorCount,int *count)
/**
* Gets the last set acceleration for a motor.
* @param phid An attached phidget stepper handle
* @param index The motor index.
* @param acceleration The acceleration
*/
CHDRGETINDEX(Stepper,Acceleration,double *acceleration)
/**
* Sets the acceleration for a motor.
* @param phid An attached phidget stepper handle
* @param index The motor index.
* @param acceleration The acceleration
*/
CHDRSETINDEX(Stepper,Acceleration,double acceleration)
/**
* Gets the maximum acceleration supported by a motor
* @param phid An attached phidget stepper handle
* @param index The motor index.
* @param max The maximum acceleration.
*/
CHDRGETINDEX(Stepper,AccelerationMax,double *max)
/**
* Gets the minimum acceleration supported by a motor.
* @param phid An attached phidget stepper handle
* @param index The motor index.
* @param min The minimum acceleration
*/
CHDRGETINDEX(Stepper,AccelerationMin,double *min)
/**
* Gets the last set velocity limit for a motor.
* @param phid An attached phidget stepper handle
* @param index The motor index.
* @param limit The velocity limit.
*/
CHDRGETINDEX(Stepper,VelocityLimit,double *limit)
/**
* Sets the velocity limit for a motor.
* @param phid An attached phidget stepper handle
* @param index The motor index.
* @param limit The velocity limit.
*/
CHDRSETINDEX(Stepper,VelocityLimit,double limit)
/**
* Gets the current velocity of a motor.
* @param phid An attached phidget stepper handle
* @param index The motor index.
* @param velocity The current velocity.
*/
CHDRGETINDEX(Stepper,Velocity,double *velocity)
/**
* Gets the maximum velocity that can be set for a motor.
* @param phid An attached phidget stepper handle
* @param index The motor index.
* @param max The maximum velocity
*/
CHDRGETINDEX(Stepper,VelocityMax,double *max)
/**
* Gets the minimum velocity that can be set for a motor.
* @param phid An attached phidget stepper handle
* @param index The motor index.
* @param min The minimum velocity.
*/
CHDRGETINDEX(Stepper,VelocityMin,double *min)
/**
* Sets a velocity change event handler. This is called when the velocity changes.
* @param phid An attached phidget stepper handle
* @param fptr Callback function pointer.
* @param userPtr A pointer for use by the user - this value is passed back into the callback function.
*/
CHDREVENTINDEX(Stepper,VelocityChange,double velocity)
/**
* Gets the last set target position of a motor.
* @param phid An attached phidget stepper handle
* @param index The motor index.
* @param position The position.
*/
CHDRGETINDEX(Stepper,TargetPosition,__int64 *position)
/**
* Sets the target position of a motor.
* @param phid An attached phidget stepper handle
* @param index The motor index.
* @param position The position.
*/
CHDRSETINDEX(Stepper,TargetPosition,__int64 position)
/**
* Gets the current position of a motor.
* @param phid An attached phidget stepper handle
* @param index The motor index.
* @param position The position.
*/
CHDRGETINDEX(Stepper,CurrentPosition,__int64 *position)
/**
* Sets the current position of a motor. This will not move the motor, just update the position value.
* @param phid An attached phidget stepper handle
* @param index The motor index.
* @param position The position.
*/
CHDRSETINDEX(Stepper,CurrentPosition,__int64 position)
/**
* Gets the maximum position that a motor can go to.
* @param phid An attached phidget stepper handle
* @param index The motor index.
* @param max The maximum position.
*/
CHDRGETINDEX(Stepper,PositionMax,__int64 *max)
/**
* Gets the minimum position that a motor can go to.
* @param phid An attached phidget stepper handle
* @param index The motor index.
* @param min The minimum position
*/
CHDRGETINDEX(Stepper,PositionMin,__int64 *min)
/**
* Sets a position change event handler. This is called when the position changes.
* @param phid An attached phidget stepper handle
* @param fptr Callback function pointer.
* @param userPtr A pointer for use by the user - this value is passed back into the callback function.
*/
CHDREVENTINDEX(Stepper,PositionChange,__int64 position)
/**
* Gets the current limit for a motor.
* @param phid An attached phidget stepper handle.
* @param index The motor index.
* @param limit The current limit.
*/
CHDRGETINDEX(Stepper,CurrentLimit,double *limit)
/**
* Sets the current limit for a motor.
* @param phid An attached phidget stepper handle.
* @param index The motor index.
* @param limit The current limit.
*/
CHDRSETINDEX(Stepper,CurrentLimit,double limit)
/**
* Gets the current current draw for a motor.
* @param phid An attached phidget stepper handle
* @param index The motor index.
* @param current The current.
*/
CHDRGETINDEX(Stepper,Current,double *current)
/**
* Gets the maximum current limit.
* @param phid An attached phidget stepper handle
* @param index The motor index.
* @param max The maximum current limit.
*/
CHDRGETINDEX(Stepper,CurrentMax,double *max)
/**
* Gets the minimum current limit.
* @param phid An attached phidget stepper handle
* @param index The motor index.
* @param min The minimum current limit.
*/
CHDRGETINDEX(Stepper,CurrentMin,double *min)
/**
* Sets a current change event handler. This is called when the current draw changes.
* @param phid An attached phidget stepper handle
* @param fptr Callback function pointer.
* @param userPtr A pointer for use by the user - this value is passed back into the callback function.
*/
CHDREVENTINDEX(Stepper,CurrentChange,double current)
/**
* Gets the engaged state of a motor. This is whether the motor is powered or not.
* @param phid An attached phidget stepper handle
* @param index The motor index.
* @param engagedState The engaged state. Possible values are \ref PTRUE and \ref PFALSE.
*/
CHDRGETINDEX(Stepper,Engaged,int *engagedState)
/**
* Sets the engaged state of a motor. This is whether the motor is powered or not.
* @param phid An attached phidget stepper handle
* @param index The motor index.
* @param engagedState The engaged state. Possible values are \ref PTRUE and \ref PFALSE.
*/
CHDRSETINDEX(Stepper,Engaged,int engagedState)
/**
* Gets the stopped state of a motor. This is true when the motor is not moving and there are no outstanding commands.
* @param phid An attached phidget stepper handle
* @param index The motor index.
* @param stoppedState The stopped state. Possible values are \ref PTRUE and \ref PFALSE.
*/
CHDRGETINDEX(Stepper,Stopped,int *stoppedState)
#ifndef EXTERNALPROTO
#define STEPPER_MAXSTEPPERS 8
#define STEPPER_MAXINPUTS 8
#define BIPOLAR_STEPPER_CURRENT_SENSE_GAIN 8.5
#define BIPOLAR_STEPPER_CURRENT_LIMIT_Rs 0.150
//flags - make sure these are in the upper 4 bits
#define MOTOR_DONE_STEPPER 0x10
#define MOTOR_DISABLED_STEPPER 0x20
//packet types - room for one more
#define STEPPER_POSITION_PACKET 0x00
#define STEPPER_VEL_ACCEL_PACKET 0x10
#define STEPPER_RESET_PACKET 0x20
struct _CPhidgetStepper{
CPhidget phid;
int (CCONV *fptrPositionChange)(CPhidgetStepperHandle, void *, int, __int64);
int (CCONV *fptrPositionChange32)(CPhidgetStepperHandle, void *, int, int);
int (CCONV *fptrVelocityChange)(CPhidgetStepperHandle, void *, int, double);
int (CCONV *fptrCurrentChange)(CPhidgetStepperHandle, void *, int, double);
int (CCONV *fptrInputChange)(CPhidgetStepperHandle, void *, int, int);
void *fptrPositionChangeptr;
void *fptrPositionChange32ptr;
void *fptrInputChangeptr;
void *fptrCurrentChangeptr;
void *fptrVelocityChangeptr;
//data from the device
unsigned char inputState[STEPPER_MAXINPUTS];
__int64 motorPositionEcho[STEPPER_MAXSTEPPERS];
double motorSpeedEcho[STEPPER_MAXSTEPPERS];
double motorSensedCurrent[STEPPER_MAXSTEPPERS];
unsigned char motorEngagedStateEcho[STEPPER_MAXSTEPPERS];
unsigned char motorStoppedState[STEPPER_MAXSTEPPERS];
int packetCounterEcho[STEPPER_MAXSTEPPERS];
//data from the user
__int64 motorPosition[STEPPER_MAXSTEPPERS];
__int64 motorPositionReset[STEPPER_MAXSTEPPERS];
double motorAcceleration[STEPPER_MAXSTEPPERS];
double motorSpeed[STEPPER_MAXSTEPPERS];
double motorCurrentLimit[STEPPER_MAXSTEPPERS];
unsigned char motorEngagedState[STEPPER_MAXSTEPPERS];
int packetCounter[STEPPER_MAXSTEPPERS];
double motorSpeedMax, motorSpeedMin;
double accelerationMax, accelerationMin;
__int64 motorPositionMax, motorPositionMin;
double currentMax, currentMin;
int microSteps;
unsigned char outputPacket[8];
unsigned int outputPacketLen;
} typedef CPhidgetStepperInfo;
#endif
/** @} */
#endif
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