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#ifndef _STEPPER_H_
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#define _STEPPER_H_
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#define S_STEP    PD6
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#define S_DIR     PD7
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#define S_MS      PB7
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#define S_EN      PF0
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#define STEP_WHOLE 2
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#define STEP_HALF 1
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/* Initializes the stepper with whole steps and no direction. step_sweep_bounds
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 * and step_dir should be called before using step_sweep. */
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void step_init();
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/* Don't call step_do_step or step_sweep if you haven't called step_enable() */
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void step_set_size(char size);
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void step_dir(int dir);
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void step_do_step();
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void step_flush();
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void step_sweep_bounds(int ccw, int cw);
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void step_sweep();
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void step_enable();
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void step_disable();
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int step_get_pos();
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#endif