void MiniStepper::step(long steps)
{
long absSteps = abs(steps);
byte stepDirection = (steps<0 ? -1 : 1);
for (long i=0; i<absSteps; i+=stepDirection) {
incrementStep(stepDirection);
executeStep();
}
}
bool StepperMotor::moveOneStepForward()
{
if (!interrupt)
{
stepIdx = incrementStep(stepIdx);
moveOneStep(stepIdx);
}
return interrupt;
}
bool StepperMotor::moveOneStepBackward()
{
if (!interrupt)
{
stepIdx = incrementStep(stepIdx);
moveOneStep(NUMBER_OF_STEPS - stepIdx - 1);
}
return interrupt;
}
void MiniStepper::step(long steps)
{
startIdleHold(); // engage all pins at this stage, so we can do incremental updates
long absSteps = abs(steps);
int stepDirection = (steps<0 ? -1 : 1);
unsigned long startTime;
unsigned long sleepTime;
for (long i=0; i<absSteps; i++) {
startTime = micros();
incrementStep(stepDirection);
if (stepDirection > 0) {
executePositiveStep();
} else {
executeNegativeStep();
}
delayMicroseconds(stepMicros - (startTime - micros())); // Always doing subtraction calculations to make sure we don't have weird rollover incidents.
}
}
