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