stepper demo contd

firmware/src/main.cpp

@@ -27,6 +27,9 @@ void setup() {
   splashScreen();
 }
 
+bool stepperDemo = false;
+bool stepperDemoSlowing = false;
+unsigned long lastStepperDemoMillis = 0;
 
 void loop() {
   debugScanI2C();
@@ -42,6 +45,37 @@ void loop() {
     setStepperDirection(RIGHT);
   } else if (debugKey == '-') {
     setTimerEnabled(!isTimerEnabled());
+  } else if (debugKey == 'k') {
+    setStepperEnabled(true);
+    setStepperDirection(RIGHT);
+    setTimerEnabled(true);
+    setTimerCadence(50);
+    stepperDemo = true;
+    stepperDemoSlowing = false;
+    lastStepperDemoMillis = millis();
+  }
+
+  if (stepperDemo) {
+    auto now = millis();
+    if (now - lastStepperDemoMillis >= 5) {
+      lastStepperDemoMillis = now;
+      auto cadence = getTimerCadence();
+
+      if (stepperDemoSlowing) {
+        if (cadence == 50) {
+          setStepperDirection(!getStepperDirection());
+          stepperDemoSlowing = false;
+        } else {
+          setTimerCadence(cadence + 1);
+        }
+      } else {
+        if (cadence == 8) {
+          stepperDemoSlowing = true;
+        } else {
+          setTimerCadence(cadence - 1);
+        }
+      }
+    }
   }
 
   auto key = handleKeyboard();

firmware/src/stepper.cpp

@@ -75,6 +75,10 @@ void setStepperEnabled(bool enabled) {
   digitalWrite(STEPPER_ENABLE, !enabled);
 }
 
+bool getStepperDirection() {
+  return !digitalRead(STEPPER_DIR);
+}
+
 void setStepperDirection(bool dir) {
   digitalWrite(STEPPER_DIR, !dir);
 }

firmware/src/stepper.h

@@ -11,5 +11,6 @@ uint16_t getTimerCadence();
 void setTimerCadence(uint16_t cadence);
 
 void setStepperEnabled(bool enabled);
+bool getStepperDirection();
 void setStepperDirection(bool dir);
 inline void step();