TEST_motor.cpp

/**
** GUIGUR 2018
** This class move motors
*/

#include "headers/Motor.hpp"

Motor::Motor(int stepPin, int dirPin, int endStpPin)
{

  Serial.println("construct motor");
  _stepPin = stepPin;
  _dirPin = dirPin;
  _endStpPin = endStpPin;

  _endStpState = HIGH;


  pinMode(_endStpPin, INPUT);

  const int maxAccelerationSpeed = 2000;

  _motor.setAcceleration(maxAccelerationSpeed);
  _motor.setSpeed(1000);

  this->initMotor();

}

Motor::~Motor()
{
  Serial.print("destruct motor");
}

/**
** This function init a motor by drving it until it hit a limit switch
*/
void Motor::initMotor()
{
  Serial.println("init motor");
  _motor.setMaxSpeed(150);    //2500 stp/s^2
  _motor.moveTo(3000);

  while(_endStpState == HIGH)
  {
    Serial.println("loop motor");
    _endStpState = digitalRead(_endStpPin);
    _motor.run();
  }
  _motor.stop();
  //this->_motor.setCurrentPosition(posPaddleMax);
  _motor.setAcceleration(_acceleration);
  _motor.setSpeed(1000);
}

float Motor::GetAbsolutePos()
{
  return this->_pos;
}

void Motor::GotoAbsolutePos(float pos)
{
/*  this->_pos = pos;
  this->_motor.setTargetRel(this->_pos);
  this->_controller.move(this->_motor);
  */
}

void Motor::GotoRelativePos(float pos)
{
  /*
  this->_pos = this->_pos + pos;
  this->_motor.setTargetRel(this->_pos);
  this->_controller.move(this->_motor);
*/
}

bool Motor::GetState()
{
  //return this->_enable;
}

TEST_motor.hpp

// Motor.hpp
#ifndef MOTOR_HPP_
#define MOTOR_HPP_

#include <String.h>
#include <Arduino.h>
#include <AccelStepper.h>
#ifndef CFG
  #include "Config.hpp"
#endif

class Motor
{
  public:
    Motor(int stepPin, int dirPin, int endStpPin);
    ~Motor();
    float GetAbsolutePos();
    void GotoAbsolutePos(float pos);
    void GotoRelativePos(float pos);
    bool GetState();
    void Enable();
    void Disable();
    void initMotor();

  private:
    int _stepPin;
    int _dirPin;
    int _endStpPin;


    int _endStpState;
    AccelStepper _motor = AccelStepper(1, _stepPin, _dirPin);

    /*
    Stepper _motor = Stepper(_stepPin, _dirPin);
    StepControl<> _controller;*/
    int _acceleration = 2500;
    int _maxSpeed = 5000;
    int _pullInSpeed = 200;
    bool _enable;
    float _pos;
};

#endif /* MOTOR_HPP_ */