CPulseMotor.h

#pragma once

#include "CBitio.h"
#include "CMotor.h"

class CPulseMotor:public CMotor                 // Define hardware interface to LMD18245 devices
{
private:
        // Using "Bit" here to avoid naming conflicts, i.e. step()
        CBit(F, 4, WO_NC) brakeBit;                     // Brake output bit - here for initialization to 0
        CBit(B, 7, WO_NC) dirBit;                       // Direction bit
        CBit(F, 1, WO_AL_NC) motionBit;         // True during step pulse sequences

public:
        CBit(C, 6, WO_NC) stepBit;                      // OC3A on ATmega32U4

public:
        void init(CProfile *pProfile, CRunProfile *pRunProfile);        // Initialize device
        void setBrakeType(char x);                      // 0 clear H-bridge data, 1 short coils, 2 nothing
        void brakeOn(void);                                     // Turn on brake
        void brakeOff(void);                            // Turn off brake

        void profileChanged(void);                      // Process new profile settings
        void changeDirection(void);                     // Change current direction
        void setDirection(void);

        void step(void);                                        // Do a step (within a sequence of many)
        void singleStep(void);                          // Do one step
};