74 lines
2.1 KiB
C++
74 lines
2.1 KiB
C++
/*
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This library is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef A4988_Stepper_h
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#define A4988_Stepper_h
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class A4988_Stepper {
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public:
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// constructor:
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A4988_Stepper( int motor_spr
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, int motor_rpm
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, short motor_mis
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, short motor_dir_pin
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, short motor_stp_pin
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, short motor_ena_pin
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, short motor_ms1_pin
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, short motor_ms2_pin
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, short motor_ms3_pin
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);
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void setRPM (int whatRPM );
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int getRPM (void );
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void setMIS (short OneToSixteen);
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short getMIS (void );
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void setSPR (int howMany );
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int getSPR (void );
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void doMove (long steps_to_move);
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void doRotate(long degrs_to_turn);
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void doTurn (float howManyTimes);
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void enable (void );
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void disable (void );
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int version (void );
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const unsigned short MIS_TABLE[5] = {0b000,0b001,0b010,0b011,0b111};
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private:
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void adjustDelay(void);
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void adjustPins(void);
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void adjustMicrosteps(void);
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unsigned long motor_delay; // delay between steps, in ms
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int motor_SPR; // Steps Per Revolution
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int motor_RPM; // Rounds Per Minute
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short motor_MIS; // Micro Steps
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// motor pins:
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short motor_dir_pin;
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short motor_stp_pin;
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short motor_ena_pin;
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short motor_ms1_pin;
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short motor_ms2_pin;
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short motor_ms3_pin;
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unsigned long last_time; // timestamp of last pincycle of last step
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};
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#endif
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