Refactor mcu code. Closes #11

src/MotorController.h

@@ -0,0 +1,54 @@
+#pragma once
+#include <Arduino.h>
+#include <AccelStepper.h>
+#include <functional>
+
+class MotorController {
+public:
+    MotorController();
+    void init();
+    void update();
+
+    void moveRelative1(long steps);
+    void moveRelative2(long steps);
+    void moveAbsolute(long target1, long target2);
+    
+    void setMaxSpeed(float spd);
+    void setAcceleration(float acc);
+    
+    void home1();
+    void home2();
+    void homeAll();
+    void zeroAll();
+    void disableMotors();
+
+    void setOnTimeoutCallback(std::function<void()> cb);
+
+    bool isMoving();
+    String getPositionString();
+    
+private:
+    AccelStepper stepper1;
+    AccelStepper stepper2;
+
+    float currentMaxSpeed;
+    float currentAccel;
+    
+    unsigned long lastMotorActive;
+    bool motorsDisabled;
+    std::function<void()> onTimeout;
+    
+    enum HomingState {
+      HOME_IDLE,
+      HOME_ALL_PHASE1,
+      HOME_ALL_PHASE2,
+      HOME_1_PHASE1,
+      HOME_1_PHASE2,
+      HOME_2_PHASE1,
+      HOME_2_PHASE2
+    };
+    HomingState homingState;
+    
+    void processHoming();
+    void checkIdleTimeout();
+};