Lakhasly

How the Code Works:

The core functionality of the code revolves around the continuous monitoring and updating of the step_counter and orientation_counter variables to control the stepper motor's movement.Movement Execution:

The selected motor control function generates the correct sequence of signals to drive the stepper motor, achieving the required rotation.Motor Control Logic:

The main loop checks the parity (odd or even) of step_counter and orientation_counter to decide the motor's mode (half-step or full-step) and direction (clockwise or anticlockwise).

How the Code Works:

The core functionality of the code revolves around the continuous monitoring and updating of the step_counter and orientation_counter variables to control the stepper motor's movement. Here’s a step-by-step explanation:

Initialization:

The microcontroller's ports are set up, and pull-up resistors are enabled on the input pins.
External interrupts are configured, and global interrupts are enabled to allow the microcontroller to respond to external events.
Interrupt Handling:

When a push button or sensor generates an interrupt, the corresponding ISR increments either the step_counter or orientation_counter.
These ISRs ensure that the main loop has the latest values for decision-making.
Motor Control Logic:

The main loop checks the parity (odd or even) of step_counter and orientation_counter to decide the motor's mode (half-step or full-step) and direction (clockwise or anticlockwise).
Depending on the values, the appropriate motor control function is called to execute the desired movement.
Movement Execution:

The selected motor control function generates the correct sequence of signals to drive the stepper motor, achieving the required rotation.