From 984f12b9fc5620cca6f2c646f20f10965e0e021b Mon Sep 17 00:00:00 2001
From: mattmcw <matt@sixteenmillimeter.com>
Date: Sat, 22 Jun 2024 09:00:20 -0400
Subject: [PATCH] initial commit

---
 .gitignore          |  1 +
 LICENSE             | 21 ++++++++++++++
 TB6600MotorDriver.h | 71 +++++++++++++++++++++++++++++++++++++++++++++
 3 files changed, 93 insertions(+)
 create mode 100644 .gitignore
 create mode 100644 LICENSE
 create mode 100644 TB6600MotorDriver.h

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..ccc9fd9
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+*.DS_Store
\ No newline at end of file
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000..56d1176
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2024 Matthew McWilliams
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
\ No newline at end of file
diff --git a/TB6600MotorDriver.h b/TB6600MotorDriver.h
new file mode 100644
index 0000000..67227a3
--- /dev/null
+++ b/TB6600MotorDriver.h
@@ -0,0 +1,71 @@
+#ifndef TB6600MotorDriver_h
+#define TB6600MotorDriver_h
+
+#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
+ **/
+
+class TB6600MotorDriver {
+  private:
+
+  
+
+  const uint8_t _directionA = 3;
+  const uint8_t _directionB = 7;
+  const uint8_t _stepA = 2;
+  const uint8_t _stepB = 6;
+
+  const uint8_t _settingsA1 = 4;
+  const uint8_t _settingsA2 = 5;
+  const uint8_t _settingsB1 = 8;
+  const uint8_t _settingsB2 = 9;
+
+  volatile uint32_t _usStepA = 300;
+  volatile uint32_t _usStepB = 300;
+
+  //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();
+
+  public:
+
+  IteadDualStepperShield();
+
+  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);
+
+  //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 release();
+};
+
+#endif
\ No newline at end of file