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// Adafruit Motor shield library
// copyright Adafruit Industries LLC, 2009
// this code is public domain, enjoy!

#ifndef _AFMotor_h_
#define _AFMotor_h_

#include <inttypes.h>
#include <avr/io.h>

//#define MOTORDEBUG 1

#define MICROSTEPS 16 // 8 or 16

#define MOTOR12_64KHZ _BV(CS20) // no prescale
#define MOTOR12_8KHZ _BV(CS21) // divide by 8
#define MOTOR12_2KHZ _BV(CS21) | _BV(CS20) // divide by 32
#define MOTOR12_1KHZ _BV(CS22) // divide by 64

#define MOTOR34_64KHZ _BV(CS00) // no prescale
#define MOTOR34_8KHZ _BV(CS01) // divide by 8
#define MOTOR34_1KHZ _BV(CS01) | _BV(CS00) // divide by 64

#define MOTOR1_A 2
#define MOTOR1_B 3
#define MOTOR2_A 1
#define MOTOR2_B 4
#define MOTOR4_A 0
#define MOTOR4_B 6
#define MOTOR3_A 5
#define MOTOR3_B 7

#define FORWARD 1
#define BACKWARD 2
#define BRAKE 3
#define RELEASE 4

#define SINGLE 1
#define DOUBLE 2
#define INTERLEAVE 3
#define MICROSTEP 4

/*
#define LATCH 4
#define LATCH_DDR DDRB
#define LATCH_PORT PORTB

#define CLK_PORT PORTD
#define CLK_DDR DDRD
#define CLK 4

#define ENABLE_PORT PORTD
#define ENABLE_DDR DDRD
#define ENABLE 7

#define SER 0
#define SER_DDR DDRB
#define SER_PORT PORTB
*/

// Arduino pin names
#define MOTORLATCH 12
#define MOTORCLK 4
#define MOTORENABLE 7
#define MOTORDATA 8

class AFMotorController
{
  public:
    AFMotorController(void);
    void enable(void);
    friend class AF_DCMotor;
    void latch_tx(void);
};

class AF_DCMotor
{
 public:
  AF_DCMotor(uint8_t motornum, uint8_t freq = MOTOR34_8KHZ);
  void run(uint8_t);
  void setSpeed(uint8_t);

 private:
  uint8_t motornum, pwmfreq;
};

class AF_Stepper {
 public:
  AF_Stepper(uint16_t, uint8_t);
  void step(uint16_t steps, uint8_t dir, uint8_t style = SINGLE);
  void setSpeed(uint16_t);
  uint8_t onestep(uint8_t dir, uint8_t style);
  void release(void);
  uint16_t revsteps; // # steps per revolution
  uint8_t steppernum;
  uint32_t usperstep, steppingcounter;
 private:
  uint8_t currentstep;

};

uint8_t getlatchstate(void);

#endif
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