CStepper.h

#pragma once
#include "CBitio.h"
#include "CEepromVar.h"

#include "CProfile.h"
#include "CStepPeriod.h"
#include "CMotor.h"
#include "CStepTimer.h"

class CStepper
{
private:
        static const char DEGREES = 0;
        static const char STEPS = 1;
public:
        CProfile                profile;                                
        CRunProfile             runProfile;                             
        CStepPeriod             avrStep;                                
        CMotor                  *pMotor;                                
        CStepTimer              *pStepTimer;                    
private:
        CBit(F, 0, RO_AL) homeSwitch;                   
        
        int homeSwitchPosition;                                 
protected:

public:
        void init(uint8_t *s, CMotor *pMotor, CStepTimer *pStepTimer, const char axis, char consoleStatus = 0); // Manual initialization
        
        void setSprIndex(int x);        
        void setDirection(char);        
        void brakeOn(void);                     
        void brakeOff(void);            
        inline int readPosition(void);          
        void writePosition(int x);      

        void step(int x);                                       
        void stepTo(int position);                      
        void doPulse(void);                                     
        void stepMotor(void);                           
        void on(char direction);                        
        void autoHome(void);                            
        void setHomeOffset(int offset);
        void changeSpeed(void);                         

        void timerCompareA(void);
        void timerOverflow(void);                       
        
        int  indexToSteps(char index);          
        char stepsToIndex(int steps);           
        int stepsToMove(int x);                         
        int toSteps(int x);                                     
        int toUnits(int x);                                     
};

//-----------------------------------------------------------------------------
// Returns position
//-----------------------------------------------------------------------------
inline int CStepper::readPosition(void)
{
        return toUnits(runProfile.position);    //<! Return position
}