MeStepper.h

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#ifndef MeStepper_h
#define MeStepper_h
#include "MePort.h"
 
#if ARDUINO >= 100
 #include "Arduino.h"
#else
 #include "WProgram.h"
 #include "stdlib.h"
 #include "wiring.h"
#endif
 
 
// These defs cause trouble on some versions of Arduino
#undef round
 
class MeStepper:public MePort
{
public:
  MeStepper();
  
  MeStepper(uint8_t port);
 
  void setpin(uint8_t dir_data, uint8_t step_data);
 
  void  moveTo(long absolute); 
 
  void  move(long relative);
  
  boolean run();
  
  boolean runSpeed();
  
  void setMaxSpeed(float speed);
  
  void setAcceleration(float acceleration);
  
  void setSpeed(float speed);
  
  float speed();
  
  long distanceToGo();
  
  long targetPosition();
  
  long currentPosition();
  
  void setCurrentPosition(long position);
  
  void runToPosition();
  
  boolean runSpeedToPosition();
  
  void runToNewPosition(long position);
  
  void disableOutputs();
  void enableOutputs();
 
protected:
  void computeNewSpeed();
  
  virtual void step();
private:
  static volatile uint8_t _dir_data;
  static volatile uint8_t _step_data;
  uint8_t _dir;          // 2 or 4
  long _currentPos;     // Steps
  long _targetPos;      // Steps
  float _speed;         // Steps per second
  float _maxSpeed;
  float _acceleration;
  unsigned long _stepInterval;
  unsigned long _lastStepTime;
  long _n;
 
  float _c0;
 
  float _cn;
 
  float _cmin; // at max speed
  uint8_t _dirPin, _stpPin;
};
 
#endif