MeStepperOnBoard.h

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#ifndef MeStepperOnBoard_h
#define MeStepperOnBoard_h
 
#if ARDUINO >= 100
 #include "Arduino.h"
#else
 #include "WProgram.h"
 #include "stdlib.h"
 #include "wiring.h"
#endif
 
#define NUM_SLOTS          4
#define SLOT_NUM_PINS      8
 
 typedef struct megaPi_slot
 {
   uint8_t pin[SLOT_NUM_PINS];
 } megaPi_slot_type;
 
 extern megaPi_slot_type megaPi_slots[NUM_SLOTS];
 
// These defs cause trouble on some versions of Arduino
#undef round
typedef void (*cb)(int,int); 
class MeStepperOnBoard
{
public:
  MeStepperOnBoard();
  
  MeStepperOnBoard(int slot);
 
void setMicroStep(int8_t value);
 
  void setpin(int slot);
 
  void moveTo(long absolute);
 
  void moveTo(long absolute, int16_t extId, cb callback);
 
  void move(long relative);
 
  void move(long relative, int16_t extId, cb callback);
  
  boolean run(void);
  
  boolean runSpeed(void);
  
  void setMaxSpeed(float speed);
  
  void setAcceleration(float acceleration);
  
  void setSpeed(float speed);
  
  float speed(void);
  
  long distanceToGo(void);
  
  long targetPosition(void);
  
  long currentPosition(void);
  
  void setCurrentPosition(long position);
  
  void runToPosition(void);
  
  boolean runSpeedToPosition(void);
  
  void runToNewPosition(long position);
 
  void disableOutputs(void);
 
  void enableOutputs(void);
 
  void update(void);
  virtual void step(void);
  
  int16_t getPort(void);
 
protected:
  void computeNewSpeed();
private:
  uint8_t _dir_data;
  uint8_t _step_data;
  uint8_t _enable_pin;
  uint8_t _micro_step_pin1;
  uint8_t _micro_step_pin2;
  uint8_t _micro_step_pin3;
  uint8_t _reset_pin;
  uint8_t _sleep_pin;
  uint8_t _micro_step;
  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
  cb _callback;
  int16_t _slot;
  int16_t _extId;
  boolean _moving;
  int16_t _mode;
  boolean _enabled;
};
 
#endif