Core.cpp

// Pico Electronic Leadscrew
// https://github.com/funkenjaeger/pico-els
//
// MIT License
//
// Copyright (c) 2025 Evan Dudzik
//
// This software is based on the Clough42 Electronic Leadscrew project under the MIT license
// https://github.com/clough42/electronic-leadscrew
// Leveraged portions of this software are Copyright (c) 2019 James Clough
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.

#include "Core.h"

Core :: Core( Encoder *encoder, StepperDrive *stepperDrive )
{
    this->encoder = encoder;
    this->stepperDrive = stepperDrive;

    feed = NULL_FEED;
    feedDirection = 0;

    driveRatio = 1.0;

    previousSpindlePosition = 0;
    previousFeedDirection = 0;
    previousFeed = NULL_FEED;

    setPowerOn(true); // default to power on
}

Core :: Core(void) {
    
}

void Core :: setReverse(bool reverse)
{
    feedDirection = reverse ? -1 : 1;
}

void Core :: setPowerOn(bool powerOn)
{
    this->powerOn = powerOn;
    stepperDrive->setEnabled(powerOn);
}

void Core :: ISR( void )
{
    if( this->feed != NULL_FEED && !stepperDrive->busy()) {
        // read the encoder
        int32_t spindlePosition = encoder->getPosition();

        // calculate the desired stepper position
        int32_t desiredSteps = feedRatio(spindlePosition);
        stepperDrive->setDesiredPosition(desiredSteps);

        // compensate for encoder overflow/underflow
        if( spindlePosition < previousSpindlePosition && previousSpindlePosition - spindlePosition > encoder->getMaxCount()/2 ) {
            stepperDrive->incrementCurrentPosition(-1 * feedRatio(encoder->getMaxCount()));
        }
        if( spindlePosition > previousSpindlePosition && spindlePosition - previousSpindlePosition > encoder->getMaxCount()/2 ) {
            stepperDrive->incrementCurrentPosition(feedRatio(encoder->getMaxCount()));
        }

        // if the feed, direction, or gear ratio changed, reset sync to avoid a big step
        if( feed != previousFeed || feedDirection != previousFeedDirection || driveRatio != previousDriveRatio) {
            stepperDrive->setCurrentPosition(desiredSteps);
        }

        // remember values for next time
        previousSpindlePosition = spindlePosition;
        previousFeedDirection = feedDirection;
        previousFeed = feed;
        previousDriveRatio = driveRatio;

        // service the stepper drive state machine
        stepperDrive->move();
    }
}