IteadStudioDualStepperShield/examples/dual_steppers/IteadDualStepperShield.cpp

81 lines
2.1 KiB
C++

#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();
}
}