Initial commit: add stepper controller firmware

2026-09-14 19:44:52 +02:00
commit f2d60303ee
19 changed files with 794 additions and 0 deletions
@@ -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;
+};