timer-driven stepper driver

Firmware/EggbotWireless/.gitignore

@@ -6,3 +6,4 @@
 .vscode/launch.json
 .history
 .vscode
+.directory

Firmware/EggbotWireless/include/Stepper.h

@@ -3,20 +3,22 @@
 
 class Stepper {
    private:
-    unsigned int stepsPerRevolution;
+    int stepsPerRevolution;
     int pin1;
     int pin2;
     int pin3;
     int pin4;
-    int speedDelay;
+    int curStep = 1;
+    int remainingSteps;
+    bool direction;
     void clockwise();
     void counterClockwise();
 
    public:
-    Stepper(int pin1, int pin2, int pin3, int pin4, int stepsPerRevolution, int rpm);
+    Stepper(int pin1, int pin2, int pin3, int pin4, int stepsPerRevolution);
-    ~Stepper();
     void step(int steps);
-    void move(float degrees);
+    void rotate(float degrees);
+    void doStep();
 };
 
 #endif

Firmware/EggbotWireless/include/StepperTimer.h

@@ -0,0 +1,11 @@
+#include <Ticker.h>
+#include "Stepper.h"
+
+#ifndef STEPPER_TIMER_H
+#define STEPPER_TIMER_H
+
+void stepperTimerInit(int rpm, int stepsPerRevolution);
+void stepperTimerSetStepper(int num, Stepper *stepper);
+void stepperTimerTick();
+
+#endif

Firmware/EggbotWireless/platformio.ini

@@ -12,3 +12,4 @@
 platform = espressif8266
 board = d1_mini
 framework = arduino
+monitor_speed = 115200

Firmware/EggbotWireless/src/Stepper.cpp

@@ -2,107 +2,120 @@
 #include <Arduino.h>
 
 void Stepper::clockwise() {
+    switch (curStep) {
+        case 1:
             digitalWrite(pin4, HIGH);
             digitalWrite(pin3, LOW);
             digitalWrite(pin2, LOW);
             digitalWrite(pin1, LOW);
-    delay(speedDelay);
+            break;
-
+        case 2:
             digitalWrite(pin4, HIGH);
             digitalWrite(pin3, HIGH);
             digitalWrite(pin2, LOW);
             digitalWrite(pin1, LOW);
-    delay(speedDelay);
+            break;
-
+        case 3:
             digitalWrite(pin4, LOW);
             digitalWrite(pin3, HIGH);
             digitalWrite(pin2, LOW);
             digitalWrite(pin1, LOW);
-    delay(speedDelay);
+            break;
-
+        case 4:
             digitalWrite(pin4, LOW);
             digitalWrite(pin3, HIGH);
             digitalWrite(pin2, HIGH);
             digitalWrite(pin1, LOW);
-    delay(speedDelay);
+            break;
-
+        case 5:
             digitalWrite(pin4, LOW);
             digitalWrite(pin3, LOW);
             digitalWrite(pin2, HIGH);
             digitalWrite(pin1, LOW);
-    delay(speedDelay);
+            break;
-
+        case 6:
             digitalWrite(pin4, LOW);
             digitalWrite(pin3, LOW);
             digitalWrite(pin2, HIGH);
             digitalWrite(pin1, HIGH);
-    delay(speedDelay);
+            break;
-
+        case 7:
             digitalWrite(pin4, LOW);
             digitalWrite(pin3, LOW);
             digitalWrite(pin2, LOW);
             digitalWrite(pin1, HIGH);
-    delay(speedDelay);
+            break;
-
+        case 8:
             digitalWrite(pin4, HIGH);
             digitalWrite(pin3, LOW);
             digitalWrite(pin2, LOW);
             digitalWrite(pin1, HIGH);
-    delay(speedDelay);
+    }
+    if (curStep == 8) {
+        curStep = 1;
+    } else {
+        curStep++;
+    }
 }
 
 void Stepper::counterClockwise() {
+    switch (curStep) {
+        case 1:
             digitalWrite(pin1, HIGH);
             digitalWrite(pin2, LOW);
             digitalWrite(pin3, LOW);
             digitalWrite(pin4, LOW);
-    delay(speedDelay);
+            break;
-
+        case 2:
             digitalWrite(pin1, HIGH);
             digitalWrite(pin2, HIGH);
             digitalWrite(pin3, LOW);
             digitalWrite(pin4, LOW);
-    delay(speedDelay);
+            break;
-
+        case 3:
             digitalWrite(pin1, LOW);
             digitalWrite(pin2, HIGH);
             digitalWrite(pin3, LOW);
             digitalWrite(pin4, LOW);
-    delay(speedDelay);
+            break;
-
+        case 4:
             digitalWrite(pin1, LOW);
             digitalWrite(pin2, HIGH);
             digitalWrite(pin3, HIGH);
             digitalWrite(pin4, LOW);
-    delay(speedDelay);
+            break;
-
+        case 5:
             digitalWrite(pin1, LOW);
             digitalWrite(pin2, LOW);
             digitalWrite(pin3, HIGH);
             digitalWrite(pin4, LOW);
-    delay(speedDelay);
+            break;
-
+        case 6:
             digitalWrite(pin1, LOW);
             digitalWrite(pin2, LOW);
             digitalWrite(pin3, HIGH);
             digitalWrite(pin4, HIGH);
-    delay(speedDelay);
+            break;
-
+        case 7:
             digitalWrite(pin1, LOW);
             digitalWrite(pin2, LOW);
             digitalWrite(pin3, LOW);
             digitalWrite(pin4, HIGH);
-    delay(speedDelay);
+            break;
-
+        case 8:
             digitalWrite(pin1, HIGH);
             digitalWrite(pin2, LOW);
             digitalWrite(pin3, LOW);
             digitalWrite(pin4, HIGH);
-    delay(speedDelay);
+    }
+    if (curStep == 8) {
+        curStep = 1;
+    } else {
+        curStep++;
+    }
 }
 
-Stepper::Stepper(int pin1, int pin2, int pin3, int pin4, int stepsPerRevolution,
+Stepper::Stepper(int pin1, int pin2, int pin3, int pin4, int stepsPerRevolution)
-                 int rpm)
     : pin1(pin1),
       pin2(pin2),
       pin3(pin3),
@@ -112,26 +125,30 @@ Stepper::Stepper(int pin1, int pin2, int pin3, int pin4, int stepsPerRevolution,
     pinMode(pin2, OUTPUT);
     pinMode(pin3, OUTPUT);
     pinMode(pin4, OUTPUT);
-
-    speedDelay = 60 * 1000 / (rpm * stepsPerRevolution);
 }
-Stepper::~Stepper() {}
 
-void Stepper::step(int steps) {
+void Stepper::doStep() {
-    int halfsteps = steps / 8;
+    if(remainingSteps > 0) {
-    if (halfsteps > 0) {
+        if(direction){
-        for (int i = 0; i < halfsteps; i++) {
             clockwise();
-        }
+        } else {
-    } else if (halfsteps < 0) {
-        halfsteps = abs(halfsteps);
-        for (int i = 0; i < halfsteps; i++) {
             counterClockwise();
         }
+        remainingSteps--;
     }
 }
 
-void Stepper::move(float degrees) {
+void Stepper::step(int steps) {
+    if (steps > 0) {
+        direction = true;
+        remainingSteps = steps;
+    } else {
+        direction = false;
+        remainingSteps = abs(steps);
+    }
+}
+
+void Stepper::rotate(float degrees) {
     int steps = (degrees * stepsPerRevolution) / 360;
     step(steps);
 }

Firmware/EggbotWireless/src/StepperTimer.cpp

@@ -0,0 +1,22 @@
+#include "StepperTimer.h"
+#include "Stepper.h"
+
+int speedDelay;
+Ticker stepperTicker;
+Stepper *steppers[2];
+
+void stepperTimerInit(int rpm, int stepsPerRevolution)
+{
+    speedDelay = 60 * 1000 / (rpm * stepsPerRevolution);
+    stepperTicker.attach_ms(speedDelay, stepperTimerTick);
+}
+
+void stepperTimerSetStepper(int num, Stepper *stepper) {
+    steppers[num] = stepper;
+}
+
+void stepperTimerTick() {
+    for (int i = 0; i < 2; i++) {
+        steppers[i]->doStep();
+    } 
+}

Firmware/EggbotWireless/src/main.cpp

@@ -1,16 +1,21 @@
 #include <Arduino.h>
-#include "Stepper.h"
 #include "Pen.h"
+#include "Stepper.h"
+#include "StepperTimer.h"
+
+#define STEPS_PER_REVOLUTION 4076
+
+Stepper eggStepper(D1, D2, D3, D4, STEPS_PER_REVOLUTION);
+Stepper servoStepper(D5, D6, D7, D8, STEPS_PER_REVOLUTION);
 
-Stepper eggStepper(D1, D2, D3, D4, 4076, 6);
-Stepper servoStepper(D5, D6, D7, D8, 4076, 6);
 Pen pen(D0, 180, 80);
 
 void setup() {
     Serial.begin(115200);
+    stepperTimerSetStepper(0, &eggStepper);
+    stepperTimerSetStepper(1, &servoStepper);
+    stepperTimerInit(6, STEPS_PER_REVOLUTION);
 }
 
 void loop() {
-    Serial.print("Hello!\n");
-    delay(1000);
 }