41 lines
876 B
C++
41 lines
876 B
C++
#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 |