81 lines
2.1 KiB
C++
81 lines
2.1 KiB
C++
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#include "IteadDualStepperShield.h"
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IteadDualStepperShield::IteadDualStepperShield () {}
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void IteadDualStepperShield::setup () {
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pinMode(_directionA, OUTPUT);
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pinMode(_directionB, OUTPUT);
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pinMode(_stepA, OUTPUT);
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pinMode(_stepB, OUTPUT);
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setDir(0, 1);
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setDir(1, 1);
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}
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void IteadDualStepperShield::setDir (uint8_t motor, uint8_t dir) {
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if (motor == 0) {
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directionA = dir;
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digitalWrite(_directionA, directionA > 0 ? HIGH : LOW);
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} else if (motor == 1) {
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directionB = dir;
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digitalWrite(_directionB, directionB > 0 ? HIGH : LOW);
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}
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}
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void IteadDualStepperShield::setSpeed (uint8_t motor, uint16_t rpm) {
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uint32_t usPerStep = 60000000 / ((uint32_t) revsteps * (uint32_t) rpm);
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if (motor == 0) {
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_usStepA = usPerStep;
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} else if (motor == 1) {
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_usStepB = usPerStep;
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}
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}
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void IteadDualStepperShield::_micro (uint8_t motor) {
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uint8_t stepPin = motor == 0 ? _stepA : _stepB;
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uint32_t usStep = motor == 0 ? _usStepA : _usStepB;
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digitalWrite(stepPin, HIGH);
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delayMicroseconds(usStep);
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digitalWrite(stepPin, LOW);
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delayMicroseconds(usStep);
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}
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//full
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void IteadDualStepperShield::_single (uint8_t motor) {
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uint8_t stepPin = motor == 0 ? _stepA : _stepB;
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uint32_t usStep = motor == 0 ? _usStepA : _usStepB;
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for (uint8_t i = 0; i < _microsteps; i++) {
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digitalWrite(stepPin, HIGH);
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delayMicroseconds(usStep);
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digitalWrite(stepPin, LOW);
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delayMicroseconds(usStep);
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}
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}
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void IteadDualStepperShield::_both () {
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for (uint8_t i = 0; i < _microsteps; i++) {
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digitalWrite(_stepA, HIGH);
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digitalWrite(_stepB, HIGH);
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delayMicroseconds(_usStepA);
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digitalWrite(_stepA, LOW);
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digitalWrite(_stepB, LOW);
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delayMicroseconds(_usStepA);
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}
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}
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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;
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setDir(motor, dir);
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for (int i = 0; i < steps; i++) {
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_single(stepPin);
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}
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}
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void IteadDualStepperShield::onestep (uint8_t motor, uint8_t dir) {
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uint8_t stepPin = motor == 0 ? _stepA : _stepB;
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setDir(motor, dir);
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_single(stepPin);
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}
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void IteadDualStepperShield::stepBoth (uint64_t steps) {
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for (int i = 0; i < steps; i++) {
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_both();
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}
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}
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