root / scout_avr / src / stepper.h @ c06735bb
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1 | a07a0b55 | Julian Binder | #ifndef _STEPPER_H_
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2 | #define _STEPPER_H_
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3 | |||
4 | #define S_STEP PD6
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5 | #define S_DIR PD7
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6 | |||
7 | #define S_MS PB7
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8 | |||
9 | 64aea12e | Tom Mullins | #define S_EN PF0
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10 | |||
11 | 2853d46b | Tom Mullins | #define STEP_WHOLE 2 |
12 | #define STEP_HALF 1 |
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13 | a07a0b55 | Julian Binder | |
14 | 2853d46b | Tom Mullins | /* Initializes the stepper with whole steps and no direction. step_sweep_bounds
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15 | * and step_dir should be called before using step_sweep. */
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16 | void step_init();
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17 | a07a0b55 | Julian Binder | |
18 | 64aea12e | Tom Mullins | /* Don't call step_do_step or step_sweep if you haven't called step_enable() */
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19 | a07a0b55 | Julian Binder | |
20 | 2853d46b | Tom Mullins | void step_set_size(char size); |
21 | ca9f6bd5 | Tom Mullins | void step_dir(int dir); |
22 | 2853d46b | Tom Mullins | void step_do_step();
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23 | a07a0b55 | Julian Binder | void step_flush();
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24 | void step_sweep_bounds(int ccw, int cw); |
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25 | void step_sweep();
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26 | 64aea12e | Tom Mullins | void step_enable();
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27 | void step_disable();
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28 | daf6a575 | Tom Mullins | int step_get_pos();
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29 | a07a0b55 | Julian Binder | |
30 | |||
31 | #endif |