PWM based motor driver added from other project

2024-11-16 20:04:38 +01:00
parent f6608075ff
commit 0181c72a9d
17 changed files with 1288 additions and 6 deletions
@@ -0,0 +1,36 @@
+/**
+ * @file stepperDrv.hpp
+ * @author Gustice
+ * @brief Abstraction for Stepper driver
+ *
+ * @copyright Copyright (c) 2024
+ */
+#pragma once
+
+#include "gpioPort.hpp"
+#include "pwmPort.hpp"
+#include <array>
+#include <vector>
+
+class StepperDriver {
+  public:
+    struct StepCplx {
+        int8_t increment{};
+        uint8_t subPos{};
+    };
+
+    StepperDriver(int resolution)
+        : Resolution(resolution), Quad(Resolution / 4) {}
+    virtual StepCplx fullStep(int8_t cnt) = 0;
+    virtual StepCplx step(int8_t cnt) = 0;
+    virtual StepCplx setPos(uint8_t pos) = 0;
+    uint8_t getSubPos() {
+        return _position;
+    }
+
+  protected:
+    const uint8_t Resolution;
+    const uint8_t Quad;
+    int8_t _position{};
+    virtual void setOutput(uint8_t pos) = 0;
+};