// © 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 Quadrature_h

#define Quadrature_h


#include "Energia.h"

#include "Axis.h"


class OutputPin;



class QuadratureAxis : public Axis {

     public:


    QuadratureAxis( char* data, String* msgPtr );

    

    virtual          ~QuadratureAxis();


    void          motorStepIsr();


    bool          isConfigured();


     protected:

    void          isrStepMotor( bool );


     private:

    OutputPin*    phase1pin;

    OutputPin*    phase2pin;


    volatile enum  PulseState {

          FS0,

          FS1,

          FS2,

          FS3 } phaseAngle;

};


#endif