mcopy/ino/mcopy_mitchell_camera/TB6600MotorDriver.h

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2024-06-23 02:57:20 +00:00
#ifndef TB6600MotorDriver_h
#define TB6600MotorDriver_h
#include <Arduino.h>
/**
* Default pins
* D6 Enable +
* D7 Direction +
* D8 Pulse +
**/
class TB6600MotorDriver {
private:
volatile uint8_t _enablePin = 0; //0 is disabled
volatile uint8_t _directionPin = 7;
volatile uint8_t _pulsePin = 8;
volatile uint32_t _usPulse = 300;
//physically set, can't change
volatile uint8_t _microsteps = 1; //1, 2, 4, 8, 16, 32
volatile uint16_t _revsteps = 200; // # steps per revolution
volatile bool _direction = true;
volatile bool _enabled = true;
void _step();
void _setDirection();
void _setEnable();
public:
TB6600MotorDriver();
TB6600MotorDriver(uint8_t enablePin, uint8_t directionPin, uint8_t pulsePin, uint32_t usPulse, uint8_t microsteps);
void setup();
void setDirection(bool direction);
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void setSpeed(uint16_t rpm);
//full
void steps(uint64_t stepCount);
void step();
void enable();
void release();
};
#endif