use atmega32 to control stepper motors

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

Firmware/MotorControl/include/Globals.h

@@ -0,0 +1,33 @@
+#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