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69 lines
1.6 KiB
C++
69 lines
1.6 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: 0.1.1
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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("0.1.1"))
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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 dirPin, uint8_t stepPin);
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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 pos > stepsPerRotation.
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bool setPosition(uint16_t pos = 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 us = 2);
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uint16_t getStepPulseLength();
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protected:
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uint16_t _stepsPerRotation = 0;
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uint8_t _directionPin = 255;
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uint8_t _stepPin = 255;
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uint8_t _direction = DRV8825_CLOCK_WISE;
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uint32_t _steps = 0;
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uint16_t _us = 2;
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uint16_t _pos = 0;
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};
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// -- END OF FILE --
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