IteadStudioDualStepperShield/IteadDualStepperShield.cpp

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#include "IteadDualStepperShield.h"
IteadDualStepperShield::IteadDualStepperShield () {}
void IteadDualStepperShield::setup () {
pinMode(_directionA, OUTPUT);
pinMode(_directionB, OUTPUT);
pinMode(_stepA, OUTPUT);
pinMode(_stepB, OUTPUT);
setDir(0, 1);
setDir(1, 1);
pinMode(_settingsA1, OUTPUT);
pinMode(_settingsA2, OUTPUT);
pinMode(_settingsB1, OUTPUT);
pinMode(_settingsB2, OUTPUT);
setStepperMode(0, 1);
setStepperMode(1, 1);
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}
void IteadDualStepperShield::setDir (uint8_t motor, uint8_t dir) {
if (motor == 0) {
directionA = dir;
digitalWrite(_directionA, directionA > 0 ? HIGH : LOW);
} else if (motor == 1) {
directionB = dir;
digitalWrite(_directionB, directionB > 0 ? HIGH : LOW);
}
}
void IteadDualStepperShield::setSpeed (uint8_t motor, uint16_t rpm) {
uint32_t usPerStep = 60000000 / ((uint32_t) revsteps * (uint32_t) rpm);
if (motor == 0) {
_usStepA = usPerStep;
} else if (motor == 1) {
_usStepB = usPerStep;
}
}
void IteadDualStepperShield::_micro (uint8_t motor) {
uint8_t stepPin = motor == 0 ? _stepA : _stepB;
uint32_t usStep = motor == 0 ? _usStepA : _usStepB;
digitalWrite(stepPin, HIGH);
delayMicroseconds(usStep);
digitalWrite(stepPin, LOW);
delayMicroseconds(usStep);
}
//full
void IteadDualStepperShield::_single (uint8_t motor) {
uint8_t stepPin = motor == 0 ? _stepA : _stepB;
uint32_t usStep = motor == 0 ? _usStepA : _usStepB;
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uint8_t mode = motor == 0 ? _modeA : _modeB;
for (uint8_t i = 0; i < mode; i++) {
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digitalWrite(stepPin, HIGH);
delayMicroseconds(usStep);
digitalWrite(stepPin, LOW);
delayMicroseconds(usStep);
}
}
void IteadDualStepperShield::_both () {
for (uint8_t i = 0; i < _microsteps; i++) {
digitalWrite(_stepA, HIGH);
digitalWrite(_stepB, HIGH);
delayMicroseconds(_usStepA);
digitalWrite(_stepA, LOW);
digitalWrite(_stepB, LOW);
delayMicroseconds(_usStepA);
}
}
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void IteadDualStepperShield::step (uint8_t motor, uint64_t steps, uint8_t dir) {
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uint8_t stepPin = motor == 0 ? _stepA : _stepB;
setDir(motor, dir);
for (int i = 0; i < steps; i++) {
_single(stepPin);
}
}
void IteadDualStepperShield::onestep (uint8_t motor, uint8_t dir) {
uint8_t stepPin = motor == 0 ? _stepA : _stepB;
setDir(motor, dir);
_single(stepPin);
}
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void IteadDualStepperShield::stepBoth (uint64_t steps) {
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for (int i = 0; i < steps; i++) {
_both();
}
}
void IteadDualStepperShield::setStepperMode (uint8_t motor, uint8_t mode) {
uint8_t pin1 = motor == 0 ? _settingsA1 : _settingsB1;
uint8_t pin2 = motor == 0 ? _settingsA2 : _settingsB2;
switch (mode) {
case 1 :
digitalWrite(pin1, LOW);
digitalWrite(pin2, LOW);
break;
case 2 :
digitalWrite(pin1, HIGH);
digitalWrite(pin2, LOW);
break;
case 4 :
digitalWrite(pin1, LOW);
digitalWrite(pin2, HIGH);
break;
case 8 :
digitalWrite(pin1, HIGH);
digitalWrite(pin2, HIGH);
break;
}
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}