// © RiceMotion ( Robert Carl Rice ) 2012-2016 - All rights reserved


// This software makes use of tools and libraries obtained from open source projects or released for

// use by relevant hardware manufactures. However, this software is NOT a part of any open source project.

// It is released only on a "need to know" basis for beta testers of the "RiceCNC Interpolation Engine".

// Recipents of this source code must respect the confidential nature of this software and prevent any

// distribution that could result in counterfeit copies of the "RiceCNC Interpolation Engine".


// © RiceMotion ( Robert Carl Rice ) 2012-2016 - All rights reserved

#ifndef DiscreteAxis_h

#define DiscreteAxis_h


#include "Energia.h"

#include "Axis.h"


class OutputPin;


class DiscreteAxis : public Axis {

     public:


    DiscreteAxis(

          char*          data,

          String*          msgPtr );


    virtual               ~DiscreteAxis();


    void               motorStepIsr();


    bool               isConfigured();



     protected:

    void               isrStepMotor( bool );



     private:

    OutputPin*          coilApin1;

    OutputPin*          coilApin2;

    OutputPin*          coilBpin1;

    OutputPin*          coilBpin2;


    volatile enum PulseState {

          HS0,

          HS1,

          HS2,

          HS3,

          HS4,

          HS5,

          HS6,

          HS7 } phaseAngle;

};


#endif