mirror of
https://github.com/RobTillaart/Arduino.git
synced 2024-10-03 18:09:02 -04:00
87 lines
2.0 KiB
C++
87 lines
2.0 KiB
C++
#pragma once
|
|
//
|
|
// FILE: DRV8825.h
|
|
// AUTHOR: Rob Tillaart
|
|
// VERSION: 0.1.2
|
|
// PURPOSE: Arduino library for DRV8825 stepper motor driver
|
|
// DATE: 2022-07-07
|
|
// URL: https://github.com/RobTillaart/DRV8825
|
|
|
|
|
|
#include "Arduino.h"
|
|
|
|
|
|
#define DRV8825_LIB_VERSION (F("0.1.1"))
|
|
|
|
|
|
// setDirection
|
|
const uint8_t DRV8825_CLOCK_WISE = 0; // LOW
|
|
const uint8_t DRV8825_COUNTERCLOCK_WISE = 1; // HIGHT
|
|
|
|
class DRV8825
|
|
{
|
|
public:
|
|
DRV8825();
|
|
|
|
bool begin(uint8_t DIR, uint8_t STEP, uint8_t EN = 255, uint8_t RST = 255, uint8_t SLP = 255);
|
|
|
|
// DIRECTION
|
|
// 0 = DRV8825_CLOCK_WISE
|
|
// 1 = DRV8825_COUNTERCLOCK_WISE
|
|
// returns false if parameter out of range.
|
|
bool setDirection(uint8_t direction = DRV8825_CLOCK_WISE);
|
|
uint8_t getDirection();
|
|
|
|
// STEPS
|
|
void setStepsPerRotation(uint16_t stepsPerRotation);
|
|
uint16_t getStepsPerRotation();
|
|
void step();
|
|
uint32_t resetSteps(uint32_t s = 0 );
|
|
uint32_t getSteps();
|
|
|
|
// POSITION
|
|
// only works if stepsPerRotation > 0
|
|
// returns false if pos > stepsPerRotation.
|
|
bool setPosition(uint16_t pos = 0);
|
|
uint16_t getPosition();
|
|
|
|
// CONFIGURATION
|
|
// step pulse length is in microseconds
|
|
// datasheet default = 1.9 us
|
|
void setStepPulseLength(uint16_t us = 2);
|
|
uint16_t getStepPulseLength();
|
|
|
|
// ENABLE pin should be set.
|
|
void enable();
|
|
void disable();
|
|
bool isEnabled();
|
|
|
|
// RESET pin should be set.
|
|
void reset();
|
|
|
|
// SLEEP pin should be set.
|
|
void sleep();
|
|
void wakeup();
|
|
bool isSleeping();
|
|
|
|
|
|
protected:
|
|
uint8_t _directionPin = 255;
|
|
uint8_t _stepPin = 255;
|
|
uint8_t _enablePin = 255;
|
|
uint8_t _resetPin = 255;
|
|
uint8_t _sleepPin = 255;
|
|
|
|
uint8_t _direction = DRV8825_CLOCK_WISE;
|
|
|
|
uint16_t _stepsPerRotation = 0;
|
|
uint32_t _steps = 0;
|
|
uint16_t _pos = 0;
|
|
uint16_t _us = 2;
|
|
};
|
|
|
|
|
|
// -- END OF FILE --
|
|
|
|
|