adding the files ig

src/I2CCommands.h

@@ -0,0 +1,6 @@
+#ifndef I2C_COMMANDS_H
+#define I2C_COMMANDS_H
+
+#define CMD_CHANGE_ADDR 0xAA // Use the same value as in your slave
+
+#endif

src/I2CMasterUtils.cpp

@@ -0,0 +1,36 @@
+#include "I2CMasterUtils.h"
+#include "I2CCommands.h"
+
+void I2CMasterUtils::scanI2C(Stream &output) {
+    output.println("Scanning for I2C devices...");
+    for (uint8_t addr = 1; addr < 127; addr++) {
+        Wire.beginTransmission(addr);
+        if (Wire.endTransmission() == 0) {
+            output.print("Found device at 0x");
+            output.println(addr, HEX);
+        }
+    }
+}
+
+void I2CMasterUtils::changeSlaveAddress(uint8_t oldAddr, uint8_t newAddr, Stream &output) {
+    Wire.beginTransmission(oldAddr);
+    Wire.write(0xAA); // Command code for address change
+    Wire.write(newAddr);
+    Wire.endTransmission();
+    output.print("Sent address change command to 0x");
+    output.print(oldAddr, HEX);
+    output.print(" -> 0x");
+    output.println(newAddr, HEX);
+}
+
+bool I2CMasterUtils::parseChangeAddressCommand(const String &input, uint8_t &oldAddr, uint8_t &newAddr) {
+    if (!input.startsWith("ch")) return false;
+    int o, n;
+    int matched = sscanf(input.c_str(), "ch %x %x", &o, &n);
+    if (matched == 2) {
+        oldAddr = (uint8_t)o;
+        newAddr = (uint8_t)n;
+        return true;
+    }
+    return false;
+}

src/I2CMasterUtils.h

@@ -0,0 +1,14 @@
+#ifndef I2CMASTERUTILS_H
+#define I2CMASTERUTILS_H
+
+#include <Arduino.h>
+#include <Wire.h>
+
+class I2CMasterUtils {
+public:
+    static void scanI2C(Stream &output = Serial);
+    static void changeSlaveAddress(uint8_t oldAddr, uint8_t newAddr, Stream &output = Serial);
+    static bool parseChangeAddressCommand(const String &input, uint8_t &oldAddr, uint8_t &newAddr);
+};
+
+#endif

src/I2CStepper.cpp

@@ -0,0 +1,100 @@
+#include "I2CStepper.h"
+#include "I2CCommands.h"
+
+#if defined(ARDUINO_ARCH_AVR) || defined(ARDUINO_ARCH_ESP32) || defined(ARDUINO_ARCH_ESP8266)
+#define IS_ARDUINO
+#endif
+
+// Define your stepper pins here for the slave
+#define EN_PIN   8
+#define DIR_PIN  5
+#define STEP_PIN 2
+
+static uint8_t currentAddress = 0x55; // Default address
+
+I2CStepper::I2CStepper(uint8_t address) : _address(address) {}
+
+void I2CStepper::begin() {
+    Wire.begin(_address);
+#ifdef IS_ARDUINO
+    pinMode(EN_PIN, OUTPUT);
+    pinMode(DIR_PIN, OUTPUT);
+    pinMode(STEP_PIN, OUTPUT);
+    digitalWrite(EN_PIN, LOW); // Enable driver
+    // Register receive handler for slave
+    Wire.onReceive([this](int numBytes){ this->handleI2CCommand(); });
+#endif
+}
+
+void I2CStepper::setSpeed(uint8_t speed, uint8_t direction) {
+    // Send speed/direction to slave
+    if (_address == 0) return;
+    if (speed > 100) speed = 100;
+    direction = (direction == 1) ? 1 : 0;
+    Wire.beginTransmission(_address);
+    Wire.write(speed);     // 0-100 (percent)
+    Wire.write(direction); // 0 or 1
+    Wire.endTransmission();
+}
+
+void I2CStepper::stop() {
+    setSpeed(0, 0);
+}
+
+uint8_t I2CStepper::scanDevices(uint8_t* foundAddresses, uint8_t maxDevices) {
+    uint8_t count = 0;
+    for (uint8_t addr = 1; addr < 127; addr++) {
+        Wire.beginTransmission(addr);
+        if (Wire.endTransmission() == 0) {
+            if (foundAddresses && count < maxDevices) {
+                foundAddresses[count] = addr;
+            }
+            count++;
+        }
+    }
+    return count;
+}
+
+void I2CStepper::setAddress(uint8_t newAddress) {
+    _address = newAddress;
+}
+
+// ========== SLAVE: I2C Command Handler ==========
+
+void I2CStepper::handleI2CCommand() {
+    if (Wire.available() < 1) return;
+    uint8_t cmd = Wire.read();
+
+    if (cmd == CMD_CHANGE_ADDR) {
+        // Change I2C address
+        if (Wire.available() >= 1) {
+            uint8_t newAddr = Wire.read();
+            currentAddress = newAddr;
+            Wire.end(); // End current I2C
+            delay(10);
+            Wire.begin(currentAddress); // Restart with new address
+        }
+        return;
+    }
+
+    // If not a command, treat as speed/direction
+    uint8_t speed = cmd;
+    if (Wire.available() < 1) return;
+    uint8_t direction = Wire.read();
+
+    // Map speed (0-100) to step delay (us): 100 = fast, 1 = slow
+    uint16_t speedDelay = map(speed, 1, 100, 2000, 200); // Tune these values
+
+    // Move a fixed number of steps for demonstration (or make this customizable)
+    moveSteps(200, direction, speedDelay); // 200 steps = 1 rev for 1.8° stepper
+}
+
+void I2CStepper::moveSteps(uint16_t steps, uint8_t direction, uint16_t speedDelay) {
+    digitalWrite(DIR_PIN, direction);
+    for (uint16_t i = 0; i < steps; i++) {
+        digitalWrite(STEP_PIN, HIGH);
+        delayMicroseconds(speedDelay);
+        digitalWrite(STEP_PIN, LOW);
+        delayMicroseconds(speedDelay);
+    }
+}

src/I2CStepper.h

@@ -0,0 +1,24 @@
+#ifndef I2CStepper_h
+#define I2CStepper_h
+
+#include <Arduino.h>
+#include <Wire.h>
+
+// ========== I2CStepper Class ==========
+
+class I2CStepper {
+public:
+    I2CStepper(uint8_t address = 0x55);
+    void begin();
+    void setSpeed(uint8_t speed, uint8_t direction);
+    void stop();
+    uint8_t scanDevices(uint8_t* foundAddresses, uint8_t maxDevices);
+    void setAddress(uint8_t newAddress);
+    void handleI2CCommand(); // Only used on the slave
+
+private:
+    uint8_t _address;
+    void moveSteps(uint16_t steps, uint8_t direction, uint16_t speedDelay);
+};
+
+#endif