77 lines
1.5 KiB
C++
77 lines
1.5 KiB
C++
#include "TB6600MotorDriver.h"
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TB6600MotorDriver::TB6600MotorDriver() {
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//
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}
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TB6600MotorDriver::TB6600MotorDriver(uint8_t enablePin, uint8_t directionPin, uint8_t pulsePin, uint32_t usPulse, uint8_t microsteps) {
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_enablePin = enablePin;
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_directionPin = directionPin;
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_pulsePin = pulsePin;
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_usPulse = usPulse;
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_microsteps = microsteps;
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_revsteps = 200 * microsteps;
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}
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void TB6600MotorDriver::setup() {
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if (_enablePin != 0) {
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pinMode(_enablePin, OUTPUT);
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}
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pinMode(_directionPin, OUTPUT);
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pinMode(_pulsePin, OUTPUT);
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digitalWrite(_directionPin, LOW);
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digitalWrite(_enablePin, HIGH);
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}
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void TB6600MotorDriver::setDirection(uint8_t direction) {
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if (direction != _direction) {
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_direction = direction;
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_setDirection();
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}
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}
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void TB6600MotorDriver::_setDirection () {
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digitalWrite(_directionPin, _direction ? LOW : HIGH);
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}
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void TB6600MotorDriver::setSpeed(uint16_t rpm) {
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_usPulse = 60000000 / ((uint32_t) _revsteps * (uint32_t) rpm);
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}
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void TB6600MotorDriver::steps(uint64_t stepCount) {
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for (uint64_t i = 0; i < stepCount; i++) {
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_step();
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}
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}
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void TB6600MotorDriver::_step() {
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digitalWrite(_pulsePin, HIGH);
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delayMicroseconds(_usPulse);
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digitalWrite(_pulsePin, LOW);
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delayMicroseconds(_usPulse);
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}
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void TB6600MotorDriver::step() {
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_step();
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}
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void TB6600MotorDriver::release() {
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_enabled = false;
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_setEnable();
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}
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void TB6600MotorDriver::enable() {
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_enabled = true;
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_setEnable();
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}
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void TB6600MotorDriver::_setEnable() {
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if (_enablePin != 0) {
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digitalWrite(_enablePin, _enabled ? HIGH : LOW);
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}
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}
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