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#define STEP_DELAY 800 /* The bigger, the slower the stepper motors */
#define DELAY 1
#define STEPS_PER_FULL 200
/* Those arrays are indexed by the enum Face */
const int step_pins[] = {2, 4, 6, 8, 10, 12};
const int dir_pins[] = {3, 5, 7, 9, 11, 13};
enum Face {
RIGHT,
LEFT,
UP,
DOWN,
FRONT,
BACK,
};
enum Rot {
CLOCKWISE = 0,
CNTRWISE = 1,
HALFROT,
};
void make_steps(int spin, int dpin, int dir, int steps=1) {
digitalWrite(dpin, !dir);
for (int i = 0; i < steps; i++) {
digitalWrite(spin, HIGH);
delayMicroseconds(STEP_DELAY);
digitalWrite(spin, LOW);
delayMicroseconds(STEP_DELAY);
}
}
void rotate_face(Face face, Rot rot) {
int spin = step_pins[face];
int dpin = dir_pins[face];
String msg = "Rotating " + String(face) + " " + String(rot);
Serial.println(msg);
switch (rot) {
case CLOCKWISE:
Serial.println("XDDDD");
make_steps(spin, dpin, CLOCKWISE, STEPS_PER_FULL/4);
break;
case CNTRWISE:
make_steps(spin, dpin, CNTRWISE, STEPS_PER_FULL/4);
break;
case HALFROT:
make_steps(spin, dpin, CLOCKWISE, STEPS_PER_FULL/2);
break;
default:
break;
}
}
bool get_rotation(Face &face, Rot &rot) {
byte b;
if (!Serial.readBytes(&b, 1)) {
return false;
}
face = b/3;
rot = b%3;
return true;
}
void setup() {
Serial.begin(115200);
for (int stepper = 0; stepper < 6; stepper++) {
pinMode(step_pins[stepper], OUTPUT);
pinMode(dir_pins[stepper], OUTPUT);
}
}
void loop() {
Face face = UP;
Rot rot = CLOCKWISE;
while (!get_rotation(face, rot));
rotate_face(face, rot);
}
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