Loom_Stepper.h

#pragma once
 
#include "Actuators.h"
#include "Loom_Manager.h"
 
#include <Adafruit_MotorShield.h>
#include <Adafruit_PWMServoDriver.h>
 
#define SERVO_MIN 150   // Minimum pulse width
#define SERVO_MAX 600   // Maximum pulse width
 
class Loom_Stepper : public Actuator{
    public:
 
        Loom_Stepper(Manager& man, int instance_num = 0);
 
        Loom_Stepper(int instance_num = 0);
 
        ~Loom_Stepper();
 
        void control(JsonArray json) override;
        void initialize() override;
        void package(JsonObject json) override;
 
        void moveSteps(const uint16_t steps, const uint8_t speed, const bool clockwise = true);
 
    private:
        Manager* manInst = nullptr;     // Manager instance
 
        Adafruit_MotorShield*   AFMS;   // Motor Shield controller
        Adafruit_StepperMotor* motor;   // Stepper controller
 
        int instance;                   // Instance number of the servo
 
        int currentSteps = 0;           // Running step count
        uint8_t rpm;                    // Current RPM of the motor
        bool clockwise;                 // If it is spinning clockwise
 
       
};