49 lines
1.9 KiB
C++
49 lines
1.9 KiB
C++
/*
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* Stepper2.h - BYJ48 stepper motor library for Wiring/Arduino - Version 0.0.1
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* The circuits can be found at
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*
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* https://github.com/udivankin/Stepper2
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*/
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// ensure this library description is only included once
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#ifndef Stepper2_h
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#define Stepper2_h
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// library interface description
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class Stepper2 {
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public:
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Stepper2(int motorPin[4]); // constructors
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void setSpeed(int rpm); // speed setter method
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void setDirection(int direction); // direction setter method
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void step(int numberOfSteps); // step method
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void turn(); // turn method
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void turn(int turnsCount); // turn method to given amount of turns
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void stop(); // stop method
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int version(); // version method
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private:
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void writeStep(int outArray[4]); // write step pin matrix to output
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int direction; // direction of rotation
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unsigned long step_duration; // target step duration, in ms, based on speed
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int step_number; // which step the motor is on
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int pin_matrix[4]; // pin matrix array
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unsigned long last_step_time; // time stamp in us of when the last step was taken
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};
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#endif
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