Reel.h

/*
 *  Reel.h
 *  Definition of a class to control the reel
 *  Author: Alex St. Clair
 *  January 2018
 *
 *  This file defines an Arduino library (C++ class) that controls
 *  the reel. It inherits from the Technosoft class, which implements
 *  communication with the Technosoft motor controllers.
 *
 *  Units:
 *  - Revolutions: rot
 *  - Speed: rpm
 *  - Acc: rot/s^2
 */

#ifndef REEL_H
#define REEL_H

#include "Arduino.h"
#include "HardwareSerial.h"
#include "WProgram.h"
#include "Technosoft.h"
#include "TML_Instructions_Addresses.h"
#include "StorageManagerMCB.h"
#include <stdint.h>

// general info
#define REEL_AXIS			1
#define MAX_REVOLUTIONS		8000.0	// rot

// conversion factors that depend on the instrument
#ifdef INST_RACHUTS // defined in HardwareMCB.h
#define REEL_UNITS_PER_REV	24000.0
#define SPEED_CONVERSION	0.32
#define DEFAULT_FULL_SPEED	250.0	// rpm
#define DEFAULT_DOCK_SPEED	80.0	// rpm
#define ACC_CONVERSION		0.01537
#define DEFAULT_ACC			8.0		// rot/s^2
#define MAX_ACC				8.2		// rot/s^2
#define MAX_SPEED			400.0 	// rpm
#endif

#ifdef INST_FLOATS // defined in HardwareMCB.h
#define REEL_UNITS_PER_REV	344.0
#define SPEED_CONVERSION	0.00459 // iu/rpm
#define DEFAULT_FULL_SPEED	20.0	// rpm
#define DEFAULT_DOCK_SPEED	20.0	// rpm
#define ACC_CONVERSION		0.00022
#define DEFAULT_ACC			80	// rot/s^2
#define MAX_ACC				82	// rot/s^2
#define MAX_SPEED			100.0 	// rpm
#endif

// Technosoft function addresses

// MCB-SOLO ebox configuration for Flight_System_V6_EmCamVariable
//#ifdef INST_RACHUTS // defined in HardwareMCB.h
//#define STOP_PROFILE_R		0x402C
//#define REEL_VARIABLE_R		0x4031
//#define CAM_SETUP_R			0x4043
//#define CAM_STOP_R			0x4051
//#define BRAKE_ON_R			0x4057
//#define BRAKE_OFF_R			0x405C
//#endif

// From RACHuTS_v6_EmCamVariable_Mondo
#ifdef INST_RACHUTS // defined in HardwareMCB.h
#define STOP_PROFILE_R		0x403E
#define REEL_VARIABLE_R		0x402C
#define CAM_SETUP_R			0x4049
#define CAM_STOP_R			0x4043
#define BRAKE_ON_R			0x404F
#define BRAKE_OFF_R			0x4054
#endif

//Below are the addresses in the code from Dougs Git
// #ifdef INST_RACHUTS // defined in HardwareMCB.h
// #define STOP_PROFILE_R		0x403E
// #define REEL_VARIABLE_R		0x402C
// #define CAM_SETUP_R			0x4049
// #define CAM_STOP_R			0x4043
// #define BRAKE_ON_R			0x4057
// #define BRAKE_OFF_R			0x405C
// #endif

///old ebox configuration FLOATS_Sey
//#ifdef INST_FLOATS // defined in HardwareMCB.h
//#define STOP_PROFILE_R		0x4026
//#define REEL_VARIABLE_R		0x402B
//#define CAM_SETUP_R			0x4046
//#define CAM_STOP_R			0x4054
//#define BRAKE_ON_R			0x405A
//#define BRAKE_OFF_R			0x405F
//#endif

#ifdef INST_FLOATS // defined in HardwareMCB.h
#define STOP_PROFILE_R		0x403F
#define REEL_VARIABLE_R		0x4024
#define CAM_SETUP_R			0x404A
#define CAM_STOP_R			0x4044
#define BRAKE_ON_R			0x4058
#define BRAKE_OFF_R			0x405D
#endif

// Position logging in case of power cycle
#define POS_LOG_FILE		FSW_DIR "pos_log.dat"

class Reel : public Technosoft {
public:
	Reel(uint8_t expeditor_axis);
	bool SetPosition(float new_pos);
	bool SetPosition(int32_t new_pos);
	bool UpdatePosition();
	bool UpdateSpeed();
	void SetToStoredPosition();
	bool StopProfile();
	bool ReelIn(float num_revolutions, float speed, float acc);
	bool ReelOut(float num_revolutions, float speed, float acc);
	bool CamSetup();
	bool CamStop();
	bool BrakeOn();
	bool BrakeOff();
	void EmergencyStop();
	void RemoveEmergencyStop();

	int32_t absolute_position; // in encoder units (24000 per rotation)
	float speed;
private:
	StorageManagerMCB storageManager; // supports multiple objects
};

#endif