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Add constructor for injecting devices in BasicChopperController #231

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Add constructor for injecting devices in BasicChopperController #231

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28 changes: 25 additions & 3 deletions diozero-core/src/main/java/com/diozero/devices/sandpit/motor/ChopperStepperController.java
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,8 @@
import com.diozero.api.RuntimeIOException;
import com.diozero.devices.sandpit.motor.StepperMotorInterface.Direction;

import java.util.Objects;

/**
* A basic device for a stepper driven by a "chopper" driver: uses 3 GPIO pins (enable, direction, frequency) to
* control a motor.
Expand Down Expand Up @@ -109,6 +111,21 @@ class BasicChopperController implements ChopperStepperController {
private final DigitalOutputDevice directionSet;
private final PwmOutputDevice stepControl;

/**
* Constructor that allows injecting the devices directly.
*
* @param enableDevice the device responsible to enable/disable the driver
* @param directionSet the device responsible to set the direction of rotation
* @param stepControl the device responsible to control the stepping frequency and whether stepping or not
* @implNote The provided devices will be closed when this controller is closed.
*/
public BasicChopperController(DigitalOutputDevice enableDevice, DigitalOutputDevice directionSet,
PwmOutputDevice stepControl) {
this.enableDevice = Objects.requireNonNull(enableDevice, "enableDevice must not be null");
this.directionSet = Objects.requireNonNull(directionSet, "directionSet must not be null");
this.stepControl = Objects.requireNonNull(stepControl, "stepControl must not be null");
}

/**
* Basic constructor for this type of driver.
*
Expand All @@ -117,9 +134,9 @@ class BasicChopperController implements ChopperStepperController {
* @param stepPin controls the <i>frequency</i> of the motor and whether stepping or not
*/
public BasicChopperController(int enablePin, int directionPin, int stepPin) {
enableDevice = new DigitalOutputDevice(enablePin, true, false);
directionSet = new DigitalOutputDevice(directionPin, true, false);
stepControl = new PwmOutputDevice(stepPin);
this(new DigitalOutputDevice(enablePin, true, false),
new DigitalOutputDevice(directionPin, true, false),
new PwmOutputDevice(stepPin));
}

@Override
Expand Down Expand Up @@ -215,6 +232,11 @@ public int multiplier() {

private Resolution resolution = Resolution.FULL;

public FrequencyMultiplierChopperController(DigitalOutputDevice enableDevice, DigitalOutputDevice directionSet,
PwmOutputDevice stepControl) {
super(enableDevice, directionSet, stepControl);
}

public FrequencyMultiplierChopperController(int enablePin, int directionPin, int stepPin) {
super(enablePin, directionPin, stepPin);
}
Expand Down