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https://github.com/RobTillaart/Arduino.git
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87 lines
2.0 KiB
C++
87 lines
2.0 KiB
C++
#pragma once
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//
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// FILE: DRV8825.h
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// AUTHOR: Rob Tillaart
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// VERSION: 0.2.0
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// PURPOSE: Arduino library for DRV8825 stepper motor driver
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// DATE: 2022-07-07
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// URL: https://github.com/RobTillaart/DRV8825
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#include "Arduino.h"
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#define DRV8825_LIB_VERSION (F("0.2.0"))
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// setDirection
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const uint8_t DRV8825_CLOCK_WISE = 0; // LOW
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const uint8_t DRV8825_COUNTERCLOCK_WISE = 1; // HIGHT
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class DRV8825
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{
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public:
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DRV8825();
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bool begin(uint8_t DIR, uint8_t STEP, uint8_t EN = 255, uint8_t RST = 255, uint8_t SLP = 255);
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// DIRECTION
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// 0 = DRV8825_CLOCK_WISE
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// 1 = DRV8825_COUNTERCLOCK_WISE
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// returns false if parameter out of range.
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bool setDirection(uint8_t direction = DRV8825_CLOCK_WISE);
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uint8_t getDirection();
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// STEPS
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void setStepsPerRotation(uint16_t stepsPerRotation);
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uint16_t getStepsPerRotation();
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void step();
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uint32_t resetSteps(uint32_t s = 0 );
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uint32_t getSteps();
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// POSITION
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// only works if stepsPerRotation > 0
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// returns false if position > stepsPerRotation.
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bool setPosition(uint16_t position = 0);
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uint16_t getPosition();
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// CONFIGURATION
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// step pulse length is in microseconds
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// datasheet default = 1.9 us
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void setStepPulseLength(uint16_t stepPulseLength = 2);
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uint16_t getStepPulseLength();
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// ENABLE pin should be set.
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bool enable();
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bool disable();
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bool isEnabled();
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// RESET pin should be set.
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bool reset();
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// SLEEP pin should be set.
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bool sleep();
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bool wakeup();
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bool isSleeping();
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protected:
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uint8_t _directionPin = 255;
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uint8_t _stepPin = 255;
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uint8_t _enablePin = 255;
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uint8_t _resetPin = 255;
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uint8_t _sleepPin = 255;
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uint8_t _direction = DRV8825_CLOCK_WISE;
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uint16_t _stepsPerRotation = 0;
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uint32_t _steps = 0;
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uint16_t _position = 0;
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uint16_t _stepPulseLength = 2;
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};
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// -- END OF FILE --
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