31 lines
781 B
C++
31 lines
781 B
C++
#ifndef Motor_h
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#define Motor_h
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#include <AccelStepper.h>
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class Motor {
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private:
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int dirPin; //馬達 7
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int stepPin; //馬達 6
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int HIGHLimit; //正極限(距離正) 正轉
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int LOWLimit; //負極限(距離負) 反轉
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float stepDistance; //0.000625 步長
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float speed; //1600 馬達的速度，1600步/秒
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AccelStepper stepper;
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float _currentPosition;
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float _targetPosition;
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public:
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Motor(int dirPin, int stepPin, int HIGHLimit, int LOWLimit, float stepDistance, float speed);
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void move(float distance);
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void stop();
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float getCurrentPosition();
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void resetPosition();
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void moveDis(float distance);
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void moveToHighLim();
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void motorMove(float distance);
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void changeSpeed(int speed);
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};
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#endif
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