54 lines
1.7 KiB
C
54 lines
1.7 KiB
C
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/*
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grbl_unipolar.h
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Part of Grbl_ESP32
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copyright (c) 2019 - Bart Dring. This file was intended for use on the ESP32
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CPU. Do not use this with Grbl for atMega328P
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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Unipolar Class
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This class allows you to control a unipolar motor. Unipolar motors have 5 wires. One
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is typically tied to a voltage, while the other 4 are switched to ground in a
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sequence
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To take a step simply call the step(direction) function. It will take
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*/
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#ifndef grbl_unipolar_h
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#define grbl_unipolar_h
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void unipolar_init();
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void unipolar_step(uint8_t step_mask, uint8_t dir_mask);
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void unipolar_disable(bool enable);
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class Unipolar{
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public:
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Unipolar(uint8_t pin_phase0, uint8_t pin_phase1, uint8_t pin_phase2, uint8_t pin_phase3, bool half_step); // constructor
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void set_enabled(bool enabled);
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void step(bool step, bool dir_forward);
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void init();
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private:
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uint8_t _current_phase = 0;
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bool _enabled = false;
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bool _half_step = true; // default is half step, full step
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uint8_t _pin_phase0;
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uint8_t _pin_phase1;
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uint8_t _pin_phase2;
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uint8_t _pin_phase3;
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};
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#endif
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