71 lines
1.5 KiB
C++
71 lines
1.5 KiB
C++
#ifndef IteadDualStepperShield_h
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#define IteadDualStepperShield_h
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#include <Arduino.h>
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/**
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* D2 X Step
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* D3 X Direction
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* D4 X MS1 setting
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* D5 X MS2 setting
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* D6 Y Step
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* D7 Y Direction
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* D8 Y MS1 setting
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* D9 Y MS2 setting
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*
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* MS1(X/Y) MS2(X/Y) Description
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* L L Full step
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* H L Half step
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* L H Quarter step
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* H H Eighth STEP
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**/
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class IteadDualStepperShield {
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private:
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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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const uint8_t _settingsA1 = 4;
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const uint8_t _settingsA2 = 5;
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const uint8_t _settingsB1 = 8;
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const uint8_t _settingsB2 = 9;
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volatile uint32_t _usStepA = 300;
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volatile uint32_t _usStepB = 300;
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//const uint8_t _microsteps = 8; //8 or 16
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volatile uint8_t _modeA = 1; //1, 2, 4, or 8
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volatile uint8_t _modeB = 1;
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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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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 setStepperMode (uint8_t motor, uint8_t mode);
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void release();
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};
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#endif |