text: /*
   * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
   * Copyright (c) 2014 Intel Corporation.
   *
   * Credits to Adafruit.
   * Based on Adafruit BMP085 library.
   *
   * 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
  
  #include <string>
  #include <math.h>
  #include <mraa/pwm.h>
  #include <mraa/aio.h>
  #include <mraa/gpio.h>
  
  #define MIN_PERIOD         500
  #define MAX_PERIOD         1000
  #define PULSEWIDTH         480
  
  #define HIGH               1
  #define LOW                0
  
  namespace upm {
  
  /**
   * @brief Stepper motor library
   * @defgroup stepper libupm-stepper
   */
  
  /**
   * @brief C++ API for StepMotor Drivers
   *
   * This file defines the stepmotor C++ interface for libstepmotor
   *
   * @ingroup stepper pwm
   * @snippet stepmotor.cxx Interesting
   */
  class StepMotor {
      public:
          /**
           * Instanciates a StepMotor object
           *
           * @param dirPin direction GPIO pin
           * @param stePin steper pulse PWM pin
           */
          StepMotor (int dirPin, int stePin);
  
          /**
           * StepMotor object destructor.
           */
          ~StepMotor ();
  
          /**
           * Set the speed of rotation
           *
           * @param speed rotation speed
           */
          void setSpeed (int speed);
  
          /**
           * Rotate motor forward
           *
           * @param ticks number of tickes the motor will move
           */
          mraa_result_t stepForward (int ticks);
  
          /**
           * Rotate motor backward
           *
           * @param ticks number of tickes the motor will move
           */
          mraa_result_t stepBackwards (int ticks);
  
      private:
          std::string         m_name;
  
          int                 m_dirPin;
          int                 m_stePin;
          int                 m_speed;
  
          mraa_gpio_context    m_dirPinCtx;
          mraa_pwm_context     m_pwmStepContext;
  
          mraa_result_t move (int ticks);
          mraa_result_t dirForward ();
          mraa_result_t dirBackwards ();
      };
  }
  