41 lines
876 B
C
41 lines
876 B
C
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#ifndef IteadDualStepperShield_h
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#define IteadDualStepperShield_h
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#include <Arduino.h>
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class IteadDualStepperShield {
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private:
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const uint8_t _microsteps = 8; //8 or 16
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const uint8_t _directionA = 3;
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const uint8_t _directionB = 7;
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const uint8_t _stepA = 2;
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const uint8_t _stepB = 6;
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void _single(uint8_t motor);
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void _micro(uint8_t motor);
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void _both();
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uint32_t _usStepA = 300;
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uint32_t _usStepB = 300;
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public:
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IteadDualStepperShield();
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uint16_t revsteps = 200; // # steps per revolution
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volatile uint8_t directionA = 1;
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volatile uint8_t directionB = 1;
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void setup();
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void setDir(uint8_t motor, uint8_t dir);
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void setSpeed(uint8_t motor, uint16_t speed);
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//full
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void step(uint8_t motor, uint64_t steps, uint8_t dir);
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void stepBoth(uint64_t steps);
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void onestep(uint8_t motor, uint8_t dir);
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void release();
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};
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#endif
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