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/*
* HeightController.h
*
* Created on: 18 Apr 2019
* Author: David
*/
#ifndef SRC_MOVEMENT_HEIGHTCONTROL_HEIGHTCONTROLLER_H_
#define SRC_MOVEMENT_HEIGHTCONTROL_HEIGHTCONTROLLER_H_
#include <RepRapFirmware.h>
#if SUPPORT_ASYNC_MOVES
#include <RTOSIface/RTOSIface.h>
class HeightController
{
public:
HeightController() noexcept;
GCodeResult Configure(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);
GCodeResult StartHeightFollowing(GCodeBuffer& gb, const StringRef& reply) noexcept; // Start/stop height following
void Stop() noexcept; // stop height following mode
[[noreturn]] void RunTask() noexcept;
private:
void CalcDerivedValues() noexcept;
static constexpr unsigned int HeightControllerTaskStackWords = 100;
static constexpr uint32_t DefaultSampleInterval = 200;
Task<HeightControllerTaskStackWords> *heightControllerTask;
int sensorNumber; // which sensor, normally a virtual heater, or -1 if not configured
uint32_t sampleInterval; // in milliseconds
uint32_t lastWakeTime;
float setPoint; // the sensor output we are aiming for
float lastReading; // the last reading we took from the sensor
float pidP;
float configuredPidI, configuredPidD; // the PID parameters
float actualPidI, actualPidD;
float iAccumulator; // the integral PID component
float zMin, zMax; // the control limits
float currentZ;
float startSpeed;
float maxSpeed;
float acceleration;
float maxZAdjustmentPerSample; // how much Z adjustment is possible in one sample period
enum class PidState : uint8_t
{
stopped,
starting,
running
};
volatile PidState state; // volatile because it is accessed by more than one task
bool lastReadingOk;
};
#endif
#endif /* SRC_MOVEMENT_HEIGHTCONTROL_HEIGHTCONTROLLER_H_ */
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