osiu97
55 lines
1.1 KiB
C++
55 lines
1.1 KiB
C++
#pragma once
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#include <Arduino.h>
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#include <AccelStepper.h>
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#include <functional>
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class MotorController {
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public:
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MotorController();
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void init();
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void update();
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void moveRelative1(long steps);
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void moveRelative2(long steps);
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void moveAbsolute(long target1, long target2);
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void setMaxSpeed(float spd);
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void setAcceleration(float acc);
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void home1();
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void home2();
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void homeAll();
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void zeroAll();
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void disableMotors();
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void setOnTimeoutCallback(std::function<void()> cb);
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bool isMoving();
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String getPositionString();
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private:
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AccelStepper stepper1;
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AccelStepper stepper2;
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float currentMaxSpeed;
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float currentAccel;
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unsigned long lastMotorActive;
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bool motorsDisabled;
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std::function<void()> onTimeout;
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enum HomingState {
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HOME_IDLE,
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HOME_ALL_PHASE1,
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HOME_ALL_PHASE2,
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HOME_1_PHASE1,
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HOME_1_PHASE2,
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HOME_2_PHASE1,
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HOME_2_PHASE2
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};
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HomingState homingState;
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void processHoming();
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void checkIdleTimeout();
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};
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