stepper.h

Go to the documentation of this file.

 
#include "TMCStepper.h"
#include "config.h"

class STEPPER{
    public:

    STEPPER(int address, int step_pin, int enable_pin);

    void setup();

    void step();

    void SetDirection(bool dir);

    bool GetDirection();

    void updateRMSCurrent();

    void updateHoldCurrent();

    uint16_t getRMSCurrent();

    uint8_t getHoldCurrent();

    void updateMicrosteps();

    void move(float targetSpeed, float acceleration, float position, int steps_revolution);

    void move(float targetSpeed, float acceleration, float position, int steps_revolution, STEPPER* stepper2, int stepper2_ratio);

    void absoluteMove(float targetSpeed, float acceleration, float angle, int steps_revolution);

    void absoluteMove(float targetSpeed, float acceleration, float angle, int steps_revolution, STEPPER* stepper2, int stepper2_ratio);

    void runStepperSCurve(float targetSpeed, float maxJerk, int distance);

    float getCurrentPosition() {
        return current_position;
    }
 
    int Debug();
    
    private:
    TMC2209Stepper stepper;

    bool direction;

    int address;

    int step_pin;
 

    int enable_pin;

    float current_position = 0;

    float steps_remainder = 0;          // Fractional step that needs to be carried over to the next move.
 
};