config.ini

@@ -14,3 +14,12 @@ build_flags =
     -D MONITOR_SPEED=${config.monitor_speed}
 ; DO NOT TOUCH --- END
     -D WAITING_WIFI_DELAY=1000
+
+    ;;;;;;;;;;;;;;;;;;;;;;
+    ;;; stepper config ;;;
+    ;;;;;;;;;;;;;;;;;;;;;;
+    -D STEPMOTOR_I2C_ADDR=0x70
+    -D STEPER_ACC=200
+    ;-D STEPER_PAS=755.906 ; = 65mm
+    -D STEPER_PAS=58 ; = 5mm
+    -D STEPER_SPEED=1000 ; 12000

lib/GRBL/include/GRBL.h

@@ -0,0 +1,22 @@
+#ifndef GRBL_H
+#define GRBL_H
+
+#include <Arduino.h>
+#include "Module_GRBL_13.2.h"
+
+class iGRBL{
+public:
+    virtual void init(int speed, double pas, int accel, String mode = "distance") = 0;
+    virtual void mouveForward(int mm) = 0;
+};
+
+class GRBL : public iGRBL{
+public:
+    GRBL(int grblAddr);
+    void init(int speed, double pas, int accel, String mode = "distance") override;
+    void mouveForward(int mm = 5) override;
+private:
+    Module_GRBL* grbl;
+};
+
+#endif

lib/GRBL/src/GRBL.cpp

@@ -0,0 +1,34 @@
+#include "../include/GRBL.h"
+
+GRBL::GRBL(int grblAddr){
+    this->grbl = new Module_GRBL(grblAddr);
+}
+
+void GRBL::init(int speed, double pas, int accel, String mode){
+    char s[1024];
+
+    this->grbl->Init(&Wire);
+    this->grbl->setMode(mode);
+
+    sprintf(s,"$0=%f", pas);  // step/mm
+    this->grbl->sendGcode(s);
+    Serial.println(s);
+
+    sprintf(s,"$4=%d", speed);  // speed
+    this->grbl->sendGcode(s);
+    Serial.println(s);
+
+    sprintf(s,"$8=%d", accel);  // acceleration, mm/sec^2
+    this->grbl->sendGcode(s);
+    Serial.println(s);
+
+    sprintf(s,"$3=%d", 500);  // puse/µsec
+    this->grbl->sendGcode(s);
+    Serial.println(s);
+}
+
+void GRBL::mouveForward(int mm){
+    char s[1024];
+    sprintf(s, "G1 X%d", mm);
+    this->grbl->sendGcode(s);
+}

platformio.ini

@@ -54,6 +54,7 @@ lib_deps =
     bblanchon/ArduinoJson@^6.21.3 ; JSON serializer et deserializer
     m5stack/M5Stack@^0.4.5 ; M5 Lib
     m5stack/M5GFX@^0.1.9 ; M5 Lib pour le LCD
+    m5stack/Module_GRBL_13.2@^0.0.3 ; M5 Lib pour Stepper (GRBL)
 ;    example:
 ;    erropix/ESP32 AnalogWrite@0.2