48 lines
1.3 KiB
C++
48 lines
1.3 KiB
C++
#include "steppers.hpp"
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SmartStepper* get_left_stepper(){
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auto* drv = steppings_for(PIN_SERVO_L_DRIVER);
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return new SmartStepper(
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new StepperMotor(new StepperMotorPins(
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drv->at(0),
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PIN_SERVO_L_MICROSTEP_1,
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PIN_SERVO_L_MICROSTEP_2,
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PIN_SERVO_L_MICROSTEP_3,
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PIN_SERVO_L_ENABLE,
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PIN_SERVO_L_STEP,
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PIN_SERVO_L_DIRECTION,
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PIN_SERVO_L_MICROSTEP_DEFAULT,
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PIN_SERVO_L_ENABLE_DEFAULT,
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PIN_SERVO_L_STEP_DEFAULT,
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drv
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)),
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new StepperSensors(new StepperSensorPins(
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PIN_SERVO_POS_L_T,
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PIN_SERVO_POS_L_B
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))
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);
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}
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SmartStepper* get_right_stepper(){
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auto* drv = steppings_for(PIN_SERVO_R_DRIVER);
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return new SmartStepper(
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new StepperMotor(new StepperMotorPins(
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drv->at(0),
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PIN_SERVO_R_MICROSTEP_1,
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PIN_SERVO_R_MICROSTEP_2,
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PIN_SERVO_R_MICROSTEP_3,
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PIN_SERVO_R_ENABLE,
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PIN_SERVO_R_STEP,
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PIN_SERVO_R_DIRECTION,
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PIN_SERVO_R_MICROSTEP_DEFAULT,
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PIN_SERVO_R_ENABLE_DEFAULT,
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PIN_SERVO_R_STEP_DEFAULT,
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drv
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)),
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new StepperSensors(new StepperSensorPins(
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PIN_SERVO_POS_R_T,
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PIN_SERVO_POS_R_B
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))
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);
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}
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