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  1. #ifndef _STEPPERS_H_
  2. #define _STEPPERS_H_
  3. void steppers_init(void);
  4. void steppers_run(void);
  5. bool steppers_homed(void);
  6. char steppers_homing_axis(void);
  7. void steppers_start_homing(void);
  8. bool stepper_reached_target(int axis);
  9. float steppers_current_pos(int axis);
  10. // target pos
  11. float steppers_pos_x(void);
  12. float steppers_pos_y(void);
  13. float steppers_pos_z(void);
  14. float steppers_pos_e(void);
  15. int steppers_move_x(float pos);
  16. int steppers_move_y(float pos);
  17. int steppers_move_z(float pos);
  18. int steppers_move_e(float pos);
  19. void steppers_kill(void);
  20. void steppers_set_speed_x(float speed);
  21. void steppers_set_speed_y(float speed);
  22. void steppers_set_speed_z(float speed);
  23. void steppers_set_speed_e(float speed);
  24. void steppers_set_accel_x(float accel);
  25. void steppers_set_accel_y(float accel);
  26. void steppers_set_accel_z(float accel);
  27. void steppers_set_accel_e(float accel);
  28. bool steppers_home_switch(int axis);
  29. #endif // _STEPPERS_H_