multistepperlite-copy

C++ implementation

#pragma XOD require "https://github.com/gunakkoc/MultiStepperLite"

#include <MultiStepperLite.h>

node {
    meta {
        using Type = MultiStepperLite*;
    }

    MultiStepperLite steppers = MultiStepperLite(2); //initialize for 2 motors
    // Adafruit_PN532 nfc = Adafruit_PN532(constant_input_IRQ, NOT_A_PORT);

    void evaluate(Context ctx) {
        auto idx = getValue<input_IDX>(ctx);
        
        if (isSettingUp()) {
            //SingleStepperLite stepper;
            // Initialize pins and stepper
            auto stepPin = constant_input_STEP;
            auto dirPin = constant_input_DIR;
            pinMode(stepPin, OUTPUT);
            pinMode(dirPin, OUTPUT);
            digitalWrite(dirPin, LOW); // Default direction
            steppers.init_stepper(idx,stepPin);
            // emitValue<output_DEV>(ctx, &stepper);
        }

        // Handle STOP pulse
        if (isInputDirty<input_STOP>(ctx)) {
            steppers.stop(idx);
            emitValue<output_DONE>(ctx, 1);
            return;
        }

        // Handle PAUSE pulse
        if (isInputDirty<input_PAUSE>(ctx)) {
            steppers.pause(idx);
            return;
        }

        // Handle GO pulse
        if (isInputDirty<input_GO>(ctx)) {
            auto pps = getValue<input_PPS>(ctx);
            auto nSteps = getValue<input_N>(ctx);

//             if (pps <= 0) {
//                 raiseError<output_ERR>(ctx);
//                 return;
//             }

            // Set direction based on nSteps sign
            bool dir = nSteps < 0;
            digitalWrite(getValue<input_DIR>(ctx), dir ? HIGH : LOW);

            // Convert PPS to step interval (microseconds)
            uint32_t stepInterval = 1000000 / pps;

            if (nSteps == 0) {
                steppers.start_continuous(idx,stepInterval);
            } else {
                steppers.start_finite(idx, stepInterval, abs(nSteps));
            }
        }

        // Call do_tasks() unless paused or stopped
        //if (stepper.is_running()) {
        uint32_t now_us = micros();
        steppers.do_tasks(now_us);
        setImmediate();
        //}

        // Output position (remaining steps)
        emitValue<output_POS>(ctx, steppers.get_remaining_steps(idx));

        // Emit DONE if finished
        if (steppers.is_finished(idx)) {
            emitValue<output_DONE>(ctx, 1);
        }
    }
}