Arduino/WordRepresenter.cpp at master · Blindle/Arduino · GitHub

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/*
  WordRepresenter.h - Library for representing a letter with 2 stepper motors with a barrel.
  Created by Blindle, 25 August, 2017.
  Released into the public domain.
*/

#include "Arduino.h"
#include "WordRepresenter.h"
#include "MultiplexorHandler.h"

const int NUMBER_OF_STEPS_PER_LOOP = 2048;
const int NUMBER_OF_SIDES = 8;
const int NUMBER_OF_STEPS_PER_SIDE = NUMBER_OF_STEPS_PER_LOOP / NUMBER_OF_SIDES; //256
const int MOTORS_PER_LETTER = 2;

const String INITIAL_VALUE = "     ";

WordRepresenter::WordRepresenter(MultiplexorHandler &multiplexorHandler) : _multiplexorHandler(multiplexorHandler)
{
  _lastWord = INITIAL_VALUE;
}

void WordRepresenter::representWord(String word)
{
  int multiplexorData;
  for (int side = 0; side < NUMBER_OF_SIDES; side++)
  {
    multiplexorData = getMultiplexorData(word, side);

    if (multiplexorData == 0)
      break; //in case that we dont have to move the steppers, we will cut the for.

    for (int step = 0; step < NUMBER_OF_STEPS_PER_SIDE; step++)
    {
      _multiplexorHandler.sendMultiplexorData(multiplexorData);
    }
  }
  _lastWord = word;
}

const int multiplexorAdder[4][2] = {
    {0b10000000, 0b01000000},
    {0b00100000, 0b00010000},
    {0b00001000, 0b00000100},
    {0b00000010, 0b00000001},
};

int WordRepresenter::getSides(int initialSide, int sideToReach)
{
  return (NUMBER_OF_SIDES - initialSide + sideToReach) % NUMBER_OF_SIDES;
}

int WordRepresenter::getMultiplexorData(String word, int side)
{
  int wordLength = word.length();
  int multiplexorData = 0;
  for (int i = 0; i < wordLength; i++)
  {
    char letter = word[i];
    char lastLetter = _lastWord[i];

    for (int motorNumber = 0; motorNumber < MOTORS_PER_LETTER; motorNumber++)
    {
      int sidesMotor = getNumberOfSidesPerMotor(letter, motorNumber);
      int lastSidesMotor = getNumberOfSidesPerMotor(lastLetter, motorNumber);
      int sidesToTravel = getSides(lastSidesMotor, sidesMotor);

      if (sidesToTravel > side)
      {
        multiplexorData = multiplexorData | multiplexorAdder[i][motorNumber];
      }
    }
  }

  return multiplexorData;
}