InputPort Class Reference

InputPort components receive motion streams on physical Stepdance input ports, and map these signals to downstream components. More...

#include <input_ports.hpp>

Inheritance diagram for InputPort:

Public Member Functions
	InputPort ()
	Default constructor for InputPort.
void	begin (uint8_t port_number)
	Initialize the InputPort with a port number corresponding to the target physical port on the Stepdance Board.
void	enable_all_signals ()
	Enables all input signals (SIGNAL_X, SIGNAL_Y, SIGNAL_Z, SIGNAL_E, SIGNAL_R, SIGNAL_T). Signals are enabled by default.
void	disable_all_signals ()
	Disables all input signals (SIGNAL_X, SIGNAL_Y, SIGNAL_Z, SIGNAL_E, SIGNAL_R, SIGNAL_T).
void	enable_signal (uint8_t signal_index)
	Enables a specific input signal.
void	disable_signal (uint8_t signal_index)
	Disables a specific input signal.
void	set_ratio (float output_units, float input_units=1.0)
	Sets the ratio between input units and output units for all input signals. Default is 1:1.

Public Attributes
BlockPort	output_x
	BlockPort that acts as output for the SIGNAL_X input.
BlockPort	output_y
	BlockPort that acts as output for the SIGNAL_Y input.
BlockPort	output_r
	BlockPort that acts as output for the SIGNAL_R input.
BlockPort	output_t
	BlockPort that acts as output for the SIGNAL_T input.
BlockPort	output_z
	BlockPort that acts as output for the SIGNAL_Z input.
BlockPort	output_e
	BlockPort that acts as output for the SIGNAL_E input.

Detailed Description

InputPort components receive motion streams on physical Stepdance input ports, and map these signals to downstream components.

Receiving and decoding of input streams occurs asynchronously. Here's an example of how to instantiate and configure an InputPort and map it to an OutputPort:

#define module_driver
#include "stepdance.hpp"
 
InputPort input_a; 
 
Channel channel_z;
KinematicsCoreXY axidraw_kinematics;
 
void setup() {
  // -- Configure and start the input port --
  input_a.begin(INPUT_A); // "INPUT_A" specifies the physical port on the PCB for the input.
  // -- Map InputPort x, y, and z Output BlockPorts to kinematics object BlockPorts --
  input_a.output_x.set_ratio(0.01, 1); //for this mapping, 1 step is 0.01mm
  input_a.output_x.map(&axidraw_kinematics.input_x);
 
  input_a.output_y.set_ratio(0.01, 1); //1 step is 0.01mm
  input_a.output_y.map(&axidraw_kinematics.input_y);
 
  input_a.output_z.set_ratio(0.01, 1); //1 step is 0.01mm
  input_a.output_z.map(&channel_z.input_target_position);
}
 
void loop(){
dance_loop();
}

Constructor & Destructor Documentation

InputPort()

InputPort::InputPort

(

)

Default constructor for InputPort.

Initializes an InputPort instance with default, unconfigured state. This does not configure hardware or register the port; call begin() to initialize hardware-specific settings and register the port with the system.

Member Function Documentation

begin()

void InputPort::begin

(

uint8_t

port_number

)

Initialize the InputPort with a port number corresponding to the target physical port on the Stepdance Board.

Parameters

port_number

Index of the physical input port (INPUT_A for all Basic Modules and INPUT_A through INPUT_D for Machine Controllers).

disable_signal()

void InputPort::disable_signal

(

uint8_t

signal_index

)

Disables a specific input signal.

Parameters

signal_index

Index of the signal to disable (SIGNAL_X, SIGNAL_Y, SIGNAL_Z, SIGNAL_E, SIGNAL_R, SIGNAL_T).

enable_signal()

void InputPort::enable_signal

(

uint8_t

signal_index

)

Enables a specific input signal.

Parameters

signal_index

Index of the signal to enable (SIGNAL_X, SIGNAL_Y, SIGNAL_Z, SIGNAL_E, SIGNAL_R, SIGNAL_T).

set_ratio()

void InputPort::set_ratio	(	float	output_units,
		float	input_units = 1.0 )

Sets the ratio between input units and output units for all input signals. Default is 1:1.

Parameters

output_units	Number of world units per input unit.
input_units	Number of input units. Default is 1.

Member Data Documentation

output_x

BlockPort InputPort::output_x

BlockPort that acts as output for the SIGNAL_X input.

InputPort inputA;
inputA.begin(INPUT_A); // Initialize InputPort A
inputA.output_x.map(channelX.input_target_position); // Map SIGNAL_X to Channel X's input target position

---

The documentation for this class was generated from the following file:

• lib/input_ports.hpp