IteadStudioDualStepperShield/IteadDualStepperShield.h

#ifndef IteadDualStepperShield_h
#define IteadDualStepperShield_h

#include <Arduino.h>

/**
 * D2 X Step
 * D3  X Direction
 * D4  X MS1 setting
 * D5  X MS2 setting
 * D6  Y Step
 * D7  Y Direction
 * D8  Y MS1 setting
 * D9  Y MS2 setting
 *
 * MS1(X/Y)  MS2(X/Y)  Description
 * L         L         Full step
 * H         L         Half step
 * L         H         Quarter step
 * H         H         Eighth STEP
 **/

class IteadDualStepperShield {
  private:

  

  const uint8_t _directionA = 3;
  const uint8_t _directionB = 7;
  const uint8_t _stepA = 2;
  const uint8_t _stepB = 6;

  const uint8_t _settingsA1 = 4;
  const uint8_t _settingsA2 = 5;
  const uint8_t _settingsB1 = 8;
  const uint8_t _settingsB2 = 9;

  volatile uint32_t _usStepA = 300;
  volatile uint32_t _usStepB = 300;

  //const uint8_t _microsteps = 8;   //8 or 16
  volatile uint8_t _modeA = 1;   //1, 2, 4, or 8
  volatile uint8_t _modeB = 1;

  void _single(uint8_t motor);
  void _micro(uint8_t motor);
  void _both();

  public:

  IteadDualStepperShield();

  uint16_t revsteps = 200; // # steps per revolution

  volatile uint8_t directionA = 1;
  volatile uint8_t directionB = 1;
  void setup();

  void setDir(uint8_t motor, uint8_t dir);
  void setSpeed(uint8_t motor, uint16_t speed);

  //full
  void step(uint8_t motor, uint64_t steps, uint8_t dir);
  void stepBoth(uint64_t steps);
  void onestep(uint8_t motor, uint8_t dir);
  void setStepperMode (uint8_t motor, uint8_t mode);

  void release();
};

#endif