header

#include <Wire.h>
#include <BasicStepperDriver.h>
#include <DRV8834.h>
#include <DRV8880.h>
#include <SyncDriver.h>
#include <A4988.h>
#include <MultiDriver.h>
#include <DRV8825.h>

BasicStepperDriver stepper[3] = {{200, 2, 3, 4}, {200, 8, 9, 10} , {200, 11, 12, 13}};

void holonomico :: inicio(){
  stepper1.begin(120, 1);
  stepper2.begin(120, 1);
  stepper3.begin(120, 1);
  Wire.onReceive(lerdados);
  Serial.begin(9600);

}

void holonomico :: rodar(int rpm, int mtr){

  switch (mtr) {
    case 1:
      stepper1.enable();
      stepper1.setRPM(rpm);
      stepper1.move(5);
      delayMicroseconds(10);
      break;

    case 2:
      stepper2.enable();
      stepper2.setRPM(rpm);
      stepper2.move(5);
      delayMicroseconds(10);
      break;

    case 3:
      stepper3.enable();
      stepper3.setRPM(rpm);
      stepper3.move(5);
      delayMicroseconds(10);
      break;
  }
}

void holonomico :: lerdados(){

}