#ifndef _STEPPERS_H_
#define _STEPPERS_H_

void steppers_init(void);
bool steppers_run(void);

bool steppers_homed(void);
char steppers_homing_axis(void);
void steppers_start_homing(void);

float steppers_current_pos(int axis);

// target pos
float steppers_pos_x(void);
float steppers_pos_y(void);
float steppers_pos_z(void);
float steppers_pos_e(void);

int steppers_move_x(float pos);
int steppers_move_y(float pos);
int steppers_move_z(float pos);
int steppers_move_e(float pos);

void steppers_kill(void);

void steppers_set_speed_x(float speed);
void steppers_set_speed_y(float speed);
void steppers_set_speed_z(float speed);
void steppers_set_speed_e(float speed);

void steppers_set_accel_x(float accel);
void steppers_set_accel_y(float accel);
void steppers_set_accel_z(float accel);
void steppers_set_accel_e(float accel);

bool steppers_home_switch(int axis);

#endif // _STEPPERS_H_