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/*
RepStepper.h - RepRap Stepper library for Arduino
This library interfaces with the RepRap Stepper Motor Driver and other standard stepper controllers
that use the 2 wire Step/Direction interface. Loosely based on the Stepper library by Tom Igoe & others: http://www.arduino.cc/en/Reference/Stepper
More information on the stepper driver circuit here: http://make.rrrf.org/smd
Memory Usage Estimate: 13 bytes
History:
* (0.1) Forked library by Zach Smith.
* (0.2) Optimizations to reduce code overhead by Zach Smith
* (0.3) Added delays for optocoupled driver boards as well as variables to record enable/direction status.
* (0.4) Rewrote and refactored all code. Fixed major interrupt bug by Zach Smith.
License: GPL v2.0
*/
// ensure this library description is only included once
#ifndef RepStepper_h
#define RepStepper_h
#include "WConstants.h"
#define RS_FORWARD 1
#define RS_REVERSE 0
// library interface description
class RepStepper {
public:
// constructors:
RepStepper(int number_of_steps, byte dir_pin, byte step_pin, byte enable_pin);
// various setters methods
void setRPM(int rpm);
// Sets the speed in ticks per step
void setSpeed(long speed) {
step_delay = speed;
if (step_delay > 0)
rpm = 960000000UL / (step_delay * number_of_steps);
else
rpm = 0;
}
void setDirection(bool direction);
void setSteps(int steps) {
number_of_steps = steps;
//recalculate our speed.
this->setRPM(this->rpm);
}
int getMicros() {
return step_delay / 16;
}
//various methods dealing with stepping.
void pulse();
void enable();
void disable();
//various internal variables: READ ONLY! Do not set these directly.
int rpm; // Speed in RPMs
long step_delay; // delay between steps, in processor ticks, based on speed
int number_of_steps; // total number of steps this motor can take
bool enabled; //are we enabled?
bool direction; //what is our direction?
// motor pin numbers:
byte step_pin; //the step signal pin.
private:
byte direction_pin; //the direction pin.
byte enable_pin; //the enable pin.
};
#endif
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