stepper.h

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/*
Copyright (c) 2023 Eindhoven University of Technology
 
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
 
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
 
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*/
#ifndef STEPPER_H
#define STEPPER_H
#include <stdbool.h>
#include <stdint.h>
 
extern void stepper_init(void);
 
extern void stepper_destroy(void);
 
extern void stepper_enable(void);
extern void stepper_disable(void);
 
extern void stepper_reset(void);
 
extern void stepper_set_speed(uint16_t left, uint16_t right);
 
extern void stepper_steps(int16_t left, int16_t right);
 
extern void stepper_get_steps(int16_t *left, int16_t *right);
extern bool stepper_steps_done(void);
 
#endif // STEPPER_H