// © 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 TorchHeightControl_h

#define TorchHeightControl_h


#include "Energia.h"

#include "Axis.h"


class     OutputPin;

class     InputPin;

class     AnalogPin;

class     Machine;


class     TorchHeightControl : public Axis {

     public:


     TorchHeightControl(

          char*          data,

          String*          msgPtr,

          Machine*     parent );

    virtual     ~TorchHeightControl();

     // Called automatically after derived class destructor


     void

          setArcVector(

               float          xyArcLength,

               float          ayArcOffset,

               float          azArcOffset );

     

     void

          startPlasma( bool on );


     bool

          arcEstablished();


     virtual void

          interpolationIsr(

               Machine*     machine );


     virtual bool

          isTorchAxis();


     float          setVoltage;


     protected:


     private:

     OutputPin*          plasmaStart;

     InputPin*          arcTransfer;

     AnalogPin*          arcVoltage;


     Axis*          xAxis;

     Axis*          yAxis;

     Axis*          zAxis;

     Axis*          torchRotationAxis;


     float          xyArcLength;

     float          xArcOffset;

     float          yArcOffset;

     float          zArcOffset;


     float          headRotationAngleRad;

     float          headRotationSin;

     float          headRotationCos;


     float          cuttingAngleRad;


     float          integral;

     float          calabration;

     float          proportionalComponent;

     float          integralComponent;

};


#endif