stepperMotor.h

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#ifndef STEPPERMOTOR_H_
#define STEPPERMOTOR_H_

#include <pigpiod_if2.h>

#include <stdint.h>
#include "globals.h"

#define NO_STEPS_                   4
#define STEP_DELAY_                 0.003125

#define DIRECTION_CLOCKWISE_        1
#define DIRECTION_ANTICLOCKWISE_    0

#define PIN_IN_1_                   2
#define PIN_IN_2_                   3
#define PIN_IN_3_                   4
#define PIN_IN_4_                   17
#define PIN_EN_A_                   27
#define PIN_EN_B_                   22

typedef struct StepperMotor_t StepperMotor_t;

struct StepperMotor_t{

    void (*step[NO_STEPS_])(StepperMotor_t *stepper);   
    uint8_t pinEnA, pinEnB, pinA0, pinA1, pinB0, pinB1; 
    int8_t currentStep;                                 
    double waitTime;                                    
    uint8_t direction, stepMultiple;                    
};

StepperMotor_t stepper;

void StepperMotor_construct(StepperMotor_t *stepper, uint8_t multiple);
void StepperMotor_enable(StepperMotor_t *stepper);
void StepperMotor_update(StepperMotor_t *stepper);
void StepperMotor_setDirection(StepperMotor_t *stepper, uint8_t direction);
void StepperMotor_setStepSize(StepperMotor_t *stepper, uint8_t multiple);
void StepperMotor_enA(StepperMotor_t *stepper);
void StepperMotor_enB(StepperMotor_t *stepper);
void StepperMotor_disable(StepperMotor_t *stepper);
void StepperMotor_incrementStep(StepperMotor_t *stepper);
void StepperMotor_decrementStep(StepperMotor_t *stepper);
void StepperMotor_wrapStep(StepperMotor_t *stepper);

void StepperMotor_step0(StepperMotor_t *stepper);
void StepperMotor_step1(StepperMotor_t *stepper);
void StepperMotor_step2(StepperMotor_t *stepper);
void StepperMotor_step3(StepperMotor_t *stepper);

#endif /* STEPPERMOTOR_H_ */