Add work on examples.

examples/dual_steppers/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);
+}
+
+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;
+	for (uint8_t i = 0; i < _microsteps; i++) {
+		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);
+	}
+}
+void IteadDualStepperShield::step (uint8_t motor, uint64_t steps, uint8_t dir) {
+	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);
+}
+
+void IteadDualStepperShield::stepBoth (uint64_t steps) {
+	for (int i = 0; i < steps; i++) {
+		_both();
+	}
+}

examples/dual_steppers/IteadDualStepperShield.h

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+#ifndef IteadDualStepperShield_h
+#define IteadDualStepperShield_h
+
+#include <Arduino.h>
+
+class IteadDualStepperShield {
+  private:
+  const uint8_t _microsteps = 8;   //8 or 16
+  const uint8_t _directionA = 3;
+  const uint8_t _directionB = 7;
+  const uint8_t _stepA = 2;
+  const uint8_t _stepB = 6;
+
+  void _single(uint8_t motor);
+  void _micro(uint8_t motor);
+  void _both();
+
+  uint32_t _usStepA = 300;
+  uint32_t _usStepB = 300;
+
+  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 release();
+};
+
+#endif