Avr/AsteleMotor
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update button handling

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This commit is contained in:
uvos 2024-06-10 20:06:08 +02:00
parent 51a5e6fc28
commit b631a44abb
6 changed files with 133 additions and 52 deletions
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18
stepper.h
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@ -11,14 +11,15 @@ private:
const uint8_t _pinC;
const uint8_t _pinD;
static constexpr uint8_t acceleration = 5;
static constexpr uint8_t speedFloor = 50;
static constexpr uint8_t acceleration = 1;
static constexpr uint16_t speedFloor = 0xEF00;
bool endlessMove = false;
bool endlessDriection = true;
bool endlessDriection = true;
bool halfCurrent = false;
uint16_t _speed = speedFloor;
uint8_t _targetSpeed = 220;
uint16_t _targetSpeed = 220;
uint8_t _stepInterval = 0;
uint16_t _tickCounter = 0;
@ -27,16 +28,19 @@ private:
int32_t _targetStep = 0;
void step(bool direction);
void setOutputs();
void disableOutputs();
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);
void setSpeed(const uint16_t speed);
uint32_t isAt();
void setHalfCurrent(bool current);
bool isStoped();
void setEndlesMove(bool endless, bool direction = true);
void shutdown();
};