From dd4b9cac43a0c0dbc0c531dc89529f3527f213e2 Mon Sep 17 00:00:00 2001
From: JeremyLaurenson <jeremy@laurenson.com>
Date: Sun, 2 Jun 2024 16:51:18 -0400
Subject: [PATCH] Added Stepper 6600

This adds support for the 6600 stepper controller for example here: https://www.dfrobot.com/product-1547.html
---
 src/extras/Stepper_TB6600.h | 97 +++++++++++++++++++++++++++++++++++++
 1 file changed, 97 insertions(+)
 create mode 100644 src/extras/Stepper_TB6600.h

diff --git a/src/extras/Stepper_TB6600.h b/src/extras/Stepper_TB6600.h
new file mode 100644
index 0000000..c27463a
--- /dev/null
+++ b/src/extras/Stepper_TB6600.h
@@ -0,0 +1,97 @@
+/*********************************************************************************
+ *  MIT License
+ *  
+ *  Copyright (c) 2023-2024 Jeremy laurenson
+ *  
+ *  https://github.com/HomeSpan/HomeSpan
+ *  
+ *  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.
+ *  
+ ********************************************************************************/
+
+#pragma once
+
+// Implementation of StepperControl for a TB6600 stepper driver
+// https://www.dfrobot.com/product-1547.html
+
+// This implementation uses direction and pulse pins and optinally enable pins only to save pinouts
+
+//////////////////////////
+ 
+struct Stepper_TB6600 : StepperControl {
+
+  int stepPin;
+  int dirPin;
+  int enablePin;
+
+//////////////////////////
+
+  Stepper_TB6600(int stepPin, int dirPin, int enablePin, std::pair<uint32_t, uint32_t> taskParams = {1,0}) : StepperControl(taskParams.first,taskParams.second){
+    this->stepPin=stepPin;
+    this->dirPin=dirPin;
+    this->enablePin=enablePin;
+
+    pinMode(stepPin,OUTPUT);
+    pinMode(dirPin,OUTPUT);
+    if(enablePin>0)pinMode(enablePin,OUTPUT);
+
+    setStepType(EIGHTH_STEP);
+    //   FULL_STEP_ONE_PHASE=0,
+    //FULL_STEP_TWO_PHASE=1,
+    //HALF_STEP=2,
+    //QUARTER_STEP=4,
+    //EIGHTH_STEP=8
+  }
+
+//////////////////////////
+
+  void onStep(boolean direction) override {
+    digitalWrite(dirPin,direction);
+    digitalWrite(stepPin,HIGH);
+    delayMicroseconds(10); // Wait for controller to see this. Min is 2.2uS
+    digitalWrite(stepPin,LOW);      
+  }
+
+//////////////////////////
+
+  void onEnable() override {
+    if(enablePin>0)digitalWrite(enablePin,0);
+  }
+
+//////////////////////////
+
+  void onDisable() override {
+    if(enablePin>0)digitalWrite(enablePin,1);
+  }
+
+//////////////////////////
+
+  StepperControl *setStepType(int mode) override {
+    switch(mode){
+      case FULL_STEP_TWO_PHASE:
+        break;
+      default:
+        ESP_LOGE(STEPPER_TAG,"Unknown StepType=%d",mode);
+    }
+    return(this);
+  }
+  
+};
+
+//////////////////////////