StepByStepMotor.h

#ifndef __STEPBYSTEPMOTOR_H__
#define __STEPBYSTEPMOTOR_H__
 
#define STEP_BY_REV (200*16)
 
#define P_MM 80L
 
#define ACC  150000L    /* 1500 p/s² */
#define PLAT 9000L  /* 1500 p/s  */
#define DECC 150000L    /* 1700 p/s² */
 
class StepByStepMotor
{
    public:
        StepByStepMotor();
 
        void attach(int step, int dir, int enable, int rst, int sleep);
 
        void begin();
 
        void step();
 
        void update();
 
        void set_position(double position){m_pos = position; update();}
 
        void set_speed(unsigned long speed){m_speed = speed;}
 
        float get_position(){return m_pos;}
 
        float get_speed(){return m_speed;}
 
        void enable();
        void disable();
 
    private:
 
        int m_step;
        int m_sleep;
        int m_dir;
        int m_rst;
        int m_enable;
 
        float m_current_pos;
        float m_last_pos;
 
        float m_pos;
        unsigned long m_speed;
        int   m_direction;
        bool m_en;
};
 
 
#endif // __STEPBYSTEPMOTOR_H__