use atmega32 to control stepper motors

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

Firmware/MotorControl/include/Stepper.h

@@ -0,0 +1,39 @@
+#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