IteadStudioDualStepperShield/examples/dual_steppers/IteadDualStepperShield.h

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