driver.cpp

#include "driver.h"

Driver::Driver(byte picoAddr, byte outVal){
	PicoAddr = picoAddr;
	MinSpeed = 1;
	RunCurrent = 0;
	HldCurrent = 0;
	ADLimit = 0;
	EmAcc = 255;
	Mode = SPEED_8X;
	Mode |= IGNORE_LIMITS;
	OutVal = outVal;
}

int Driver::setParameter(){
	if(!StepSetParam(PicoAddr, Mode, MinSpeed, RunCurrent, HldCurrent, ADLimit, EmAcc))
			return 0;
	StepSetOutputs(PicoAddr, OutVal);
	return 1;

}

void Driver::enable(byte mode){
	StepStopMotor(PicoAddr, mode);
}

void Driver::loadTraj(byte mode, long pos, byte speed, byte acc, unsigned short int steptime){
	Mode = mode;
	Pos = pos;
	Speed = speed;
	Acc = acc;
	StepTime = steptime;
	StepLoadTraj(PicoAddr, mode, pos, speed, acc, steptime);
}

void Driver::setGroup(bool isLeader){
	LdcnSetGroupAddr(PicoAddr, GROUP_ADDR, isLeader);
}

void Driver::stopMotor(byte mode){
	StepStopMotor(PicoAddr, mode);
}