mks42d

type Direction int

type DriverCommand struct {
	// contains filtered or unexported fields
}

type S42DDriver struct {
	SerialConfig *serial.Config

	EncoderAddition  uint // encoder value +/- for a full rotation
	ScrewPitch       uint // mm
	StepsPerRotation uint // usually 200 without microsteps
	StepsPerMm       uint // steps_per_rotation / screw_pitch
	// contains filtered or unexported fields
}

type ServoMessage struct {
	Type    ServoMessageType
	Data    any
	Message string
}

type ServoMessageType int

type StepperDriver interface {
	Connect() error                  // initialize serial connection
	GetCurrentDistanceTraveled() int // get distance traveled since counter started in mm
	ResetCounters() error            // resets pulse and distance counters
	StartGoingDown() error           // start motor going forward
	StartGoingUp(speed uint16) error // start motor going in reverse
	Stop() error                     // stop all movement
	FindMaxBottom() (int, error)     // find the maximum encoder value to the bottom of the system
	GoHome(speed uint16) error       // go to the very top of the system
}