refactor: structure pico project

pico/lib/Stepper/Stepper.h

@@ -0,0 +1,22 @@
+#pragma once
+class Stepper {
+protected:
+    int steps_per_rev;
+    virtual void step(int steps, bool direction) = 0;
+    
+public:
+    void step_rev(double revs, bool direction){
+        if(revs == 0.0) return;
+        if(revs < 0.0){
+            direction = !direction;
+            revs = -revs;
+        }
+
+        long total_steps = (long)(revs * steps_per_rev + 0.5);
+        if(total_steps <= 0) return;
+        
+        step((int)total_steps, direction);
+    }
+
+    virtual ~Stepper() {}
+};

pico/lib/Stepper/ULN2003Stepper.h

@@ -0,0 +1,58 @@
+#pragma once
+
+#include <Arduino.h>
+#include "Stepper.h"
+#include <array>
+
+class ULN2003Stepper : public Stepper {
+private:
+    std::array<uint8_t, 4> pins;
+
+    static constexpr int steps_per_seq = 8;
+    const uint8_t sequence[8][4] = {
+        {1, 0, 0, 0},
+        {1, 1, 0, 0},
+        {0, 1, 0, 0},
+        {0, 1, 1, 0},
+        {0, 0, 1, 0},
+        {0, 0, 1, 1},
+        {0, 0, 0, 1},
+        {1, 0, 0, 1}
+    };
+
+    int step_delay_us = 5000;
+    int current_seq_idx = 0;
+
+    void step(int steps, bool direction) override {
+        if (steps <= 0) return;
+
+        for (int i = 0; i < steps; ++i) {
+            // calculate next step index
+            current_seq_idx = direction
+                ? (current_seq_idx + 1) % steps_per_seq
+                : (current_seq_idx - 1 + steps_per_seq) % steps_per_seq;
+
+            // set pins according to the current sequence
+            digitalWrite(pins[0], sequence[current_seq_idx][0]);
+            digitalWrite(pins[1], sequence[current_seq_idx][1]);
+            digitalWrite(pins[2], sequence[current_seq_idx][2]);
+            digitalWrite(pins[3], sequence[current_seq_idx][3]);
+
+            // wait for the specified delay
+            delayMicroseconds(step_delay_us);
+        }
+    }
+
+public:
+    ULN2003Stepper(std::array<uint8_t, 4> pins, int rev_steps) : pins(pins) {
+        steps_per_rev = rev_steps;
+
+        for (auto pin : pins) {
+            pinMode(pin, OUTPUT);
+        }
+    }
+
+    void setStepDelay(int delay_us) { step_delay_us = delay_us; }
+
+    void resetPhase() { current_seq_idx = 0; }
+};