inital commit

stepper.h

@@ -0,0 +1,42 @@
+#pragma once
+
+#include <stdint.h>
+
+class Stepper
+{
+private:
+    volatile uint8_t * const _port;
+    const uint8_t _pinA;
+    const uint8_t _pinB;
+    const uint8_t _pinC;
+	const uint8_t _pinD;
+    
+    static constexpr uint8_t acceleration = 5;
+	static constexpr uint8_t speedFloor = 50;
+	
+	bool endlessMove = false;
+	bool endlessDriection = true;
+    
+    uint16_t _speed = speedFloor;
+    uint8_t _targetSpeed = 220;
+	uint8_t _stepInterval = 0;
+    
+    uint16_t _tickCounter = 0;
+    
+    int32_t _currentStep = 0;
+    int32_t _targetStep = 0;
+    
+    void step(bool direction);
+	
+    
+public:
+    
+    Stepper( volatile uint8_t * const port, const uint8_t pinA, const uint8_t pinB, const uint8_t pinC, const uint8_t pinD): _port(port), _pinA(pinA), _pinB(pinB), _pinC(pinC), _pinD(pinD){}
+    void tick();
+    void moveTo(const int32_t step);
+    void moveRelative(const int16_t dist);
+    void setSpeed(const uint8_t speed);
+    uint32_t isAt();
+    bool isStoped();
+	void setEndlesMove(bool endless, bool direction = true);
+};