use atmega32 to control stepper motors

Signed-off-by: Stepan Usatyuk <usaatyuk@ustk.me>

Firmware/MotorControl/include/Globals.h

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+#include <Arduino.h>
+#include "Pen.h"
+#include "Stepper.h"
+
+#ifndef GLOBALS_H
+#define GLOBALS_H
+
+#define EGG_DIA 35.0
+#define Y_DEGREES_PER_MM (360 / (PI * EGG_DIA))
+
+#define X_LIMIT 70.0
+#define EGG_LENGTH 50.0
+#define X_DEGREES_PER_MM (X_LIMIT / EGG_LENGTH)
+
+#define STEPS_PER_REVOLUTION 4076
+#define DEF_RPM 2
+
+Stepper eggStepper(28, 29, 30, 31, STEPS_PER_REVOLUTION, 0, Y_DEGREES_PER_MM);
+Stepper servoStepper(24, 25, 26, 27, -STEPS_PER_REVOLUTION, X_LIMIT,
+                     X_DEGREES_PER_MM);
+
+Pen pen(23, 100, 150);
+
+float eggStepperDelay;
+float servoStepperDelay;
+
+float eggStepperRPM;
+float servoStepperRPM;
+
+bool recalculateDelays;
+bool needAdjust;
+
+#endif

Firmware/MotorControl/include/Pen.h

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+#include <Servo.h>
+
+#ifndef PEN_H
+#define PEN_H
+
+class Pen {
+   private:
+    int posEngaged;
+    int posDisengaged;
+    bool engaged = true;
+    Servo servo;
+
+   public:
+    Pen(int pin, int posEngaged, int posDisengaged);
+    void engage();
+    void disengage();
+    void init();
+    bool getEngaged();
+    ~Pen();
+};
+
+#endif

Firmware/MotorControl/include/README

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+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

Firmware/MotorControl/include/Stepper.h

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+#ifndef STEPPER_H
+#define STEPPER_H
+
+class Stepper {
+   private:
+    int stepsPerRevolution;
+    unsigned int pin1;
+    unsigned int pin2;
+    unsigned int pin3;
+    unsigned int pin4;
+    unsigned int curStep = 1;
+    unsigned int remainingSteps;
+    float degreesPerMM;
+    bool direction;
+    void clockwise();
+    void counterClockwise();
+    float pos = 0;
+    int limit;
+
+   public:
+    Stepper(int pin1, int pin2, int pin3, int pin4, int stepsPerRevolution,
+            int limit, float degreesPerMM);
+    void step(int steps);
+    int getRemainingSteps();
+    void rotate(float degrees);
+    void rotateTo(float degrees);
+    void moveTo(float dist);
+    void setPos(float degrees);
+    float getDist(float degrees);
+    int degreesToSteps(float degrees);
+    int mmToSteps(float dist);
+    void doStep();
+    bool finished();
+    float getPos();
+    float getPosMm();
+    float getDistMm(float pos);
+};
+
+#endif

Firmware/MotorControl/include/common

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+../../common