Initial commit: add stepper controller firmware

include/config/ConfigManager.h

@@ -0,0 +1,50 @@
+#pragma once
+
+#include <Arduino.h>
+
+struct DeviceConfig {
+  String name;
+  String hostname;
+};
+
+struct MotorConfig {
+  long stepsPerRevolution;
+  float maxSpeed;
+  float acceleration;
+  bool reverseDirection;
+  bool holdPosition;
+};
+
+struct WifiConfig {
+  String ssid;
+  String password;
+  String apName;
+  String apPassword;
+};
+
+struct LimitConfig {
+  bool enabled;
+  int leftPin;
+  int rightPin;
+  bool activeHigh;
+};
+
+struct AppConfig {
+  DeviceConfig device;
+  MotorConfig motor;
+  WifiConfig wifi;
+  LimitConfig limits;
+};
+
+class ConfigManager {
+ public:
+  bool begin();
+  bool load();
+  bool save();
+  void resetToDefaults();
+  const AppConfig& get() const;
+  AppConfig& mutableConfig();
+
+ private:
+  AppConfig config_;
+};

include/motor/StepperController.h

@@ -0,0 +1,49 @@
+#pragma once
+
+#include <Arduino.h>
+#include <AccelStepper.h>
+#include "config/ConfigManager.h"
+
+enum class MotorState {
+  Idle,
+  Moving,
+  Continuous,
+  LimitLeft,
+  LimitRight,
+  Error
+};
+
+class StepperController {
+ public:
+  StepperController();
+  void begin(const MotorConfig& config);
+  void update();
+  void moveLeftRotations(float rotations);
+  void moveRightRotations(float rotations);
+  void continuousLeft();
+  void continuousRight();
+  void stop();
+  void emergencyStop();
+  void setSpeed(float maxSpeed);
+  void setAcceleration(float acceleration);
+  void setLimits(bool enabled, bool leftTriggered, bool rightTriggered);
+  bool isMoving() const;
+  long position();
+  MotorState state() const;
+  const char* stateName() const;
+
+ private:
+  bool directionAllowed(int direction) const;
+  void applyLimitState();
+  long rotationsToSteps(float rotations) const;
+
+  AccelStepper stepper_;
+  long stepsPerRevolution_ = 4096;
+  float maxSpeed_ = 500.0f;
+  bool reverseDirection_ = false;
+  bool holdPosition_ = false;
+  bool limitsEnabled_ = false;
+  bool leftLimit_ = false;
+  bool rightLimit_ = false;
+  MotorState state_ = MotorState::Idle;
+};

include/network/NetworkManager.h

@@ -0,0 +1,20 @@
+#pragma once
+
+#include <Arduino.h>
+#include <ESP8266WiFi.h>
+#include "config/ConfigManager.h"
+
+class NetworkManager {
+ public:
+  bool begin(const WifiConfig& config, const String& hostname);
+  void update();
+  void startAccessPoint(const WifiConfig& config, const String& hostname);
+  bool isAccessPoint() const;
+  bool isConnected() const;
+  String modeName() const;
+  String ipAddress() const;
+
+ private:
+  bool accessPoint_ = false;
+  unsigned long lastReconnectAttempt_ = 0;
+};

include/ota/OtaManager.h

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+#pragma once
+
+#include <Arduino.h>
+#include <ESP8266WebServer.h>
+#include <ArduinoOTA.h>
+#include "motor/StepperController.h"
+
+class OtaManager {
+ public:
+  void begin(const String& hostname, StepperController& motor);
+  void update();
+  void handleUpload(ESP8266WebServer& server, HTTPUpload& upload, StepperController& motor);
+  bool isUpdating() const;
+
+ private:
+  bool updating_ = false;
+};

include/web/WebServerManager.h

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+#pragma once
+
+#include <Arduino.h>
+#include <ESP8266WebServer.h>
+#include "config/ConfigManager.h"
+#include "motor/StepperController.h"
+#include "network/NetworkManager.h"
+#include "ota/OtaManager.h"
+
+class WebServerManager {
+ public:
+  WebServerManager(ConfigManager& config, StepperController& motor, NetworkManager& network, OtaManager& ota);
+  void begin();
+  void update();
+
+ private:
+  void registerRoutes();
+  void handleRoot();
+  void handleConfigPage();
+  void handleStatus();
+  void handleCommand();
+  void handleConfigGet();
+  void handleConfigPost();
+  void handleFactoryReset();
+  void handleNotFound();
+  String renderPage() const;
+  bool parseFloatArg(const String& name, float& value) const;
+
+  ESP8266WebServer server_{80};
+  ConfigManager& config_;
+  StepperController& motor_;
+  NetworkManager& network_;
+  OtaManager& ota_;
+};