accel-stepper 0.1.0

A library for controlling stepper motors.
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60

use crate::{Device, StepContext};
use embedded_hal::digital::v2::OutputPin;

/// A [`Device`] which has step and direction pins.
///
/// Requires the `hal` feature.
#[derive(Debug, Default, Clone, PartialEq)]
pub struct StepAndDirection<Step, Direction> {
    step: Step,
    direction: Direction,
}

impl<Step, Direction> StepAndDirection<Step, Direction> {
    pub fn new(step: Step, direction: Direction) -> Self {
        StepAndDirection { step, direction }
    }

    pub fn into_inner(self) -> (Step, Direction) { (self.step, self.direction) }
}

fn set_output<P: OutputPin>(pin: &mut P, mask: u8) -> Result<(), P::Error> {
    if mask != 0 {
        pin.set_high()
    } else {
        pin.set_low()
    }
}

impl<Step, Direction, E> StepAndDirection<Step, Direction>
where
    Step: OutputPin<Error = E>,
    Direction: OutputPin<Error = E>,
{
    fn set_output(&mut self, mask: u8) -> Result<(), E> {
        set_output(&mut self.step, mask & 0b01)?;
        set_output(&mut self.direction, mask & 0b10)?;

        Ok(())
    }
}

impl<Step, Direction, E> Device for StepAndDirection<Step, Direction>
where
    Step: OutputPin<Error = E>,
    Direction: OutputPin<Error = E>,
{
    type Error = E;

    #[inline]
    fn step(&mut self, ctx: &StepContext) -> Result<(), Self::Error> {
        // copied straight from AccelStepper::step2()
        match ctx.position & 0x03 {
            0 => self.set_output(0b10),
            1 => self.set_output(0b11),
            2 => self.set_output(0b01),
            3 => self.set_output(0b00),
            _ => unreachable!(),
        }
    }
}