File content as of revision 0:9da9efc2119c:

#ifndef SUTEPPA_H
#define SUTEPPA_H

#include "mbed.h"
#ifndef M_PI
#define M_PI 3.14159265359
#endif

class Suteppa
{
    public:
        Suteppa();
        void init(unsigned long allStep, void (*stepper)(int));
        void setSpeed(unsigned long speed);
        
        void setDefaultSmooth(unsigned long step, unsigned long initSpeed);

        void beginSmooth(unsigned long step, unsigned long initSpeed);
        void beginSmooth();

        void endSmooth(){_smooth = false;};

        long getStep(){return _step;};
        long getStepAbsolute(){return _step%_allStep;};

        unsigned long getSpeed(){return _speed;};

        void rotate(int mode, long step, bool sync);
        void rotate(int mode, long step);

        void setHome();
        bool tick();

        static const int RELATIVE = 0;
        static const int ABSOLUTE = 1;
        static const int ABSOLUTE_SKIP = 2;
    private:
        void _delay(unsigned long time);
        
        void _rotateAbsolute(long step, bool skip, bool sync);
        void _rotateRelative(long step, bool sync);

        void (*_stepper)(int);
        void (*_turner)(int);

        bool _smooth;
        
        long _step;
        
        unsigned long _allStep;
        unsigned long _speed;
        unsigned long _initDiff;
        unsigned long _smoothStep;
        unsigned long _initSpeed;

        unsigned long _defaultSmoothStep;
        unsigned long _defaultInitSpeed;

        int _r_direction;
        unsigned long _r_step;
        unsigned long _r_smoothStep;
        bool _r_smooth;
        float _r_max;
        unsigned int _r_i;
        unsigned long _r_time;
        unsigned long _r_interval;
        
        float sigmoid(float x);
        Timer timer;
};

#endif