#ifndef ThreePhaseAxis_h
#define ThreePhaseAxis_h
#include "Energia.h"
#include "Axis.h"
class OutputPin;
class ThreePhaseAxis : public Axis {
public:
ThreePhaseAxis( char* data, String* msgPtr );
~ThreePhaseAxis();
void motorStepIsr();
bool isConfigured();
protected:
void isrStepMotor( bool );
private:
OutputPin* phaseApin;
OutputPin* phaseBpin;
OutputPin* phaseCpin;
OutputPin* halfStepPin;
volatile enum PulseState {
PSA,
PSAB,
PSB,
PSBC,
PSC,
PSCA } phaseAngle;
bool halfStep;
};
#endif