46 lines
866 B
C++
46 lines
866 B
C++
#ifndef MCOPY_PROJECTOR
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#define MCOPY_PROJECTOR
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#include <Arduino.h>
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#include <AccelStepper.h>
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class McopyProjector {
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private:
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AccelStepper _takeup;
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AccelStepper _feed;
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uint8_t _motorSteps = 1600; //microstepped
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uint8_t _frames = 8;
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uint8_t _stepsPerFrame = 25; //round(_motorSteps / _frames);
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float _speed = 500.0;
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int64_t _posTakeup = 0;
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int64_t _posFeed = 0;
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const uint8_t FORWARD = 1; //CW
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const uint8_t BACKWARD = 0; //CCW
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const uint8_t TAKEUP = 0;
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const uint8_t FEED = 0;
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bool _dir = true;
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bool _running = false;
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bool _adjusting = false;
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public:
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McopyProjector(AccelStepper takeup, AccelStepper feed);
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void begin();
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//0 = takeup, 1 = feed
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void adjust(uint8_t motor, int64_t steps);
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void adjustBoth(int64_t steps);
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//true = forward, false = back
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void frame(bool dir);
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void setDirection(bool dir);
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void loop();
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};
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#endif |