from time import ticks_us,ticks_cpu
import time
from machine import Pin
class Stepper():
def __init__(self,stepPin,directionPin,enablePin):
self.stepPin = Pin(stepPin,Pin.OUT)
self.directionPin = Pin(directionPin,Pin.OUT)
self.enablePin = Pin(enablePin,Pin.OUT)
self.done = True
self.debugModeFlag = False
self.stepsToGo = 0
self.stepsGone = 0
self.acceleration = 0.00
self.stepTime = 0.00
self.starttime = 0.00
self.stage1 = 0.00
self.stage2 = 0.00
self.stage1StepTime = 0.00
self.stage3StepTime = 0.00
self.nextStepTime = 0.00
self.now_time = 0.00
self.nextTimestamp = 0.00
def startup(self):
self.enablePin.value(0)
def shutdown(self):
self.enablePin.value(1)