From 1bd8a68f01ffd07046c06e54130625c5f2c98ad3 Mon Sep 17 00:00:00 2001
From: mmcwilliams <hi@mmcwilliams.com>
Date: Sat, 22 Jun 2024 10:00:00 -0400
Subject: [PATCH] Rough API and initial code without testing.

---
 TB6600MotorDriver.cpp | 76 +++++++++++++++++++++++++++++++++++++++++++
 TB6600MotorDriver.h   | 65 +++++++++++++-----------------------
 2 files changed, 99 insertions(+), 42 deletions(-)
 create mode 100644 TB6600MotorDriver.cpp

diff --git a/TB6600MotorDriver.cpp b/TB6600MotorDriver.cpp
new file mode 100644
index 0000000..ce51425
--- /dev/null
+++ b/TB6600MotorDriver.cpp
@@ -0,0 +1,76 @@
+#include "TB6600MotorDriver.h"
+
+TB6600MotorDriver::TB6600MotorDriver() {
+	//
+}
+
+TB6600MotorDriver::TB6600MotorDriver(uint8_t enablePin, uint8_t directionPin, uint8_t pulsePin, uint32_t usPulse, uint8_t microsteps) {
+	_enablePin = enablePin;
+	_directionPin = directionPin;
+	_pulsePin = pulsePin;
+
+	_usPulse = usPulse;
+	_microsteps = microsteps;
+	_revsteps = 200 * microsteps;
+}
+
+
+void TB6600MotorDriver::setup() {
+	if (_enablePin != 0) {
+		pinMode(_enablePin, OUTPUT);
+	}
+	pinMode(_directionPin, OUTPUT);
+	pinMode(_pulsePin, OUTPUT);
+
+	digitalWrite(_directionPin, LOW);
+	digitalWrite(_enablePin, HIGH);
+}
+
+void TB6600MotorDriver::setDirection(uint8_t direction) {
+	if (direction != _direction) {
+		_direction = direction;
+		_setDirection();
+	}
+}
+
+void TB6600MotorDriver::_setDirection{
+	digitalWrite(_directionPin, _direction ? LOW : HIGH);
+}
+
+void TB6600MotorDriver::setSpeed(uint16_t rpm) {
+	_usPulse = 60000000 / ((uint32_t) revsteps * (uint32_t) rpm);
+}
+
+void TB6600MotorDriver::steps(uint64_t stepCount) {
+	for (uint64_t i = 0; i < stepCount; i++) {
+		_step();
+	}
+}
+
+void TB6600MotorDriver::_step() {
+	digitalWrite(_pulsePin, HIGH);
+	delayMicroseconds(_usPulse);
+	digitalWrite(_pulsePin, LOW);
+	delayMicroseconds(_usPulse);
+}
+
+void TB6600MotorDriver::step() {
+	_step();
+}
+
+void TB6600MotorDriver::release() {
+	_enabled = false;
+	_setEnable();
+}
+
+void TB6600MotorDriver::enable() {
+	_enabled = true;
+	_setEnable();
+}
+
+void TB6600MotorDriver::_setEnable() {
+	if (_enablePin != 0) {
+		digitalWrite(_enablePin, _enabled ? HIGH : LOW);
+	}
+}
+
diff --git a/TB6600MotorDriver.h b/TB6600MotorDriver.h
index 67227a3..f13c487 100644
--- a/TB6600MotorDriver.h
+++ b/TB6600MotorDriver.h
@@ -4,67 +4,48 @@
 #include <Arduino.h>
 
 /**
- * D2 X Step
- * D3  X Direction
- * D4  X MS1 setting
- * D5  X MS2 setting
- * D6  Y Step
- * D7  Y Direction
- * D8  Y MS1 setting
- * D9  Y MS2 setting
- *
- * MS1(X/Y)  MS2(X/Y)  Description
- * L         L         Full step
- * H         L         Half step
- * L         H         Quarter step
- * H         H         Eighth STEP
+ * 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;
 
-  const uint8_t _directionA = 3;
-  const uint8_t _directionB = 7;
-  const uint8_t _stepA = 2;
-  const uint8_t _stepB = 6;
+  volatile uint32_t _usPulse = 300;
 
-  const uint8_t _settingsA1 = 4;
-  const uint8_t _settingsA2 = 5;
-  const uint8_t _settingsB1 = 8;
-  const uint8_t _settingsB2 = 9;
+  //physically set, can't change
+  volatile uint8_t _microsteps = 1;   //1, 2, 4, 8, 16, 32
 
-  volatile uint32_t _usStepA = 300;
-  volatile uint32_t _usStepB = 300;
+  volatile uint16_t _revsteps = 200; // # steps per revolution
+  volatile bool _direction = true;
+  volatile bool _enabled = true;
 
-  //const uint8_t _microsteps = 8;   //8 or 16
-  volatile uint8_t _modeA = 1;   //1, 2, 4, or 8
-  volatile uint8_t _modeB = 1;
-
-  void _single(uint8_t motor);
-  void _micro(uint8_t motor);
-  void _both();
+  void _step();
+  void _setDirection();
+  void _setEnable();
 
   public:
 
-  IteadDualStepperShield();
+  TB6600MotorDriver();
+  TB6600MotorDriver(uint8_t enablePin, uint8_t directionPin, uint8_t pulsePin, uint32_t usPulse, uint8_t microsteps);
 
-  uint16_t revsteps = 200; // # steps per revolution
 
-  volatile uint8_t directionA = 1;
-  volatile uint8_t directionB = 1;
   void setup();
 
-  void setDir(uint8_t motor, uint8_t dir);
-  void setSpeed(uint8_t motor, uint16_t speed);
+  void setDirection(uint8_t direction);
+  void setSpeed(uint16_t rpm);
 
   //full
-  void step(uint8_t motor, uint64_t steps, uint8_t dir);
-  void stepBoth(uint64_t steps);
-  void onestep(uint8_t motor, uint8_t dir);
-  void setStepperMode (uint8_t motor, uint8_t mode);
+  void steps(uint64_t stepCount);
+  void step();
 
+  void enable();
   void release();
 };