TODO
* implement position control
- keep track of current "step position" in both directions
- accept a "desired position" from a setter method
- decide whether to send step pulses (and the state of the DIR pin) based on whether the desired position has been reached
* implement serial protocol (see below)
//--------------------------------------------------------------------------------
// packet structure
// look at PacketSerial library: https://github.com/bakercp/PacketSerial
// then define enumerated opcodes for whatever operations we want the computer to tell the microcontroller to do
enum operations {
HOME = 1,
SET_DESIRED_POS = 2,
};
if (packetSerial.hasPacket()) {
int operation = packet.get(0);
switch (operation) {
case HOME:
int motorIndex = packet.get(1);
motors[motorIndex].resetPosition();
break;
case SET_DESIRED_POS:
int motorIndex = packet.get(1);
int desired_ = packet.get(2);
motors[motorIndex].setDesiredPosition(desired_);
break;
}