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