// Implements steps according to the current speed
// You must call this at least once per step
// returns true if a step occurred
boolean EightAccelStepper::runSpeed()
{
unsigned long time = millis();
if (time > getLastStepTime() + getStepInterval())
{
if (getSpeed() > 0)
{
// Clockwise
setCurrentPos(getCurrentPos() + 1);
}
else if (getSpeed() < 0)
{
// Anticlockwise
setCurrentPos(getCurrentPos() - 1);
}
if (getPins() == 8) {
step(getCurrentPos() & 0x7); // Bottom 3 bits (same as mod 8, but works with + and - numbers)
} else {
step(getCurrentPos() & 0x3); // Bottom 2 bits (same as mod 4, but works with + and - numbers)
}
setLastStepTime(time);
return true;
}
else
return false;
}
bool Servo::removeChannel(ServoChannel* channel)
{
if (channels.removeElement(channel)) {
ETS_INTR_LOCK();
getPins();
calcTiming();
ETS_INTR_UNLOCK();
if (channels.size() == 0) {
started = false;
hardwareTimer.stop();
}
return true;
}
return false;
}
bool Servo::addChannel(ServoChannel* channel)
{
uint8 channel_count = channels.size();
if (channel_count > SERVO_CHANNEL_NUM_MAX) return false;
channels.add(channel);
ETS_INTR_LOCK();
getPins();
calcTiming();
ETS_INTR_UNLOCK();
if (!started) {
started = true;
hardwareTimer.initializeUs(100000,ServoTimerInt);
hardwareTimer.startOnce();
}
return true;
}
// Subclasses can override
void EightAccelStepper::step(uint8_t step)
{
switch (getPins())
{
case 0:
step0();
break;
case 1:
step1(step);
break;
case 2:
step2(step);
break;
case 4:
step4(step);
break;
case 8:
step8(step);
break;
}
}
