Rough API and initial code without testing.
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#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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@ -4,67 +4,48 @@
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#include <Arduino.h>
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/**
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* D2 X Step
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* D3 X Direction
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* D4 X MS1 setting
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* D5 X MS2 setting
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* D6 Y Step
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* D7 Y Direction
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* D8 Y MS1 setting
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* D9 Y MS2 setting
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*
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* MS1(X/Y) MS2(X/Y) Description
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* L L Full step
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* H L Half step
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* L H Quarter step
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* H H Eighth STEP
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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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const uint8_t _directionA = 3;
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const uint8_t _directionB = 7;
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const uint8_t _stepA = 2;
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const uint8_t _stepB = 6;
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volatile uint32_t _usPulse = 300;
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const uint8_t _settingsA1 = 4;
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const uint8_t _settingsA2 = 5;
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const uint8_t _settingsB1 = 8;
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const uint8_t _settingsB2 = 9;
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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 uint32_t _usStepA = 300;
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volatile uint32_t _usStepB = 300;
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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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//const uint8_t _microsteps = 8; //8 or 16
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volatile uint8_t _modeA = 1; //1, 2, 4, or 8
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volatile uint8_t _modeB = 1;
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void _single(uint8_t motor);
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void _micro(uint8_t motor);
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void _both();
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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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IteadDualStepperShield();
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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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uint16_t revsteps = 200; // # steps per revolution
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volatile uint8_t directionA = 1;
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volatile uint8_t directionB = 1;
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void setup();
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void setDir(uint8_t motor, uint8_t dir);
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void setSpeed(uint8_t motor, uint16_t speed);
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void setDirection(uint8_t direction);
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void setSpeed(uint16_t rpm);
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//full
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void step(uint8_t motor, uint64_t steps, uint8_t dir);
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void stepBoth(uint64_t steps);
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void onestep(uint8_t motor, uint8_t dir);
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void setStepperMode (uint8_t motor, uint8_t mode);
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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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