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-/*
- Stepper.cpp - - Stepper library for Wiring/Arduino - Version 0.4
-
- Original library (0.1) by Tom Igoe.
- Two-wire modifications (0.2) by Sebastian Gassner
- Combination version (0.3) by Tom Igoe and David Mellis
- Bug fix for four-wire (0.4) by Tom Igoe, bug fix from Noah Shibley
-
- Drives a unipolar or bipolar stepper motor using 2 wires or 4 wires
-
- When wiring multiple stepper motors to a microcontroller,
- you quickly run out of output pins, with each motor requiring 4 connections.
-
- By making use of the fact that at any time two of the four motor
- coils are the inverse of the other two, the number of
- control connections can be reduced from 4 to 2.
-
- A slightly modified circuit around a Darlington transistor array or an L293 H-bridge
- connects to only 2 microcontroler pins, inverts the signals received,
- and delivers the 4 (2 plus 2 inverted ones) output signals required
- for driving a stepper motor.
-
- The sequence of control signals for 4 control wires is as follows:
-
- Step C0 C1 C2 C3
- 1 1 0 1 0
- 2 0 1 1 0
- 3 0 1 0 1
- 4 1 0 0 1
-
- The sequence of controls signals for 2 control wires is as follows
- (columns C1 and C2 from above):
-
- Step C0 C1
- 1 0 1
- 2 1 1
- 3 1 0
- 4 0 0
-
- The circuits can be found at
-
-http://www.arduino.cc/en/Tutorial/Stepper
-
-
- */
-
-
-#include "WProgram.h"
-#include "Stepper.h"
-
-/*
- * two-wire constructor.
- * Sets which wires should control the motor.
- */
-Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2)
-{
- this->step_number = 0; // which step the motor is on
- this->speed = 0; // the motor speed, in revolutions per minute
- this->direction = 0; // motor direction
- this->last_step_time = 0; // time stamp in ms of the last step taken
- this->number_of_steps = number_of_steps; // total number of steps for this motor
-
- // Arduino pins for the motor control connection:
- this->motor_pin_1 = motor_pin_1;
- this->motor_pin_2 = motor_pin_2;
-
- // setup the pins on the microcontroller:
- pinMode(this->motor_pin_1, OUTPUT);
- pinMode(this->motor_pin_2, OUTPUT);
-
- // When there are only 2 pins, set the other two to 0:
- this->motor_pin_3 = 0;
- this->motor_pin_4 = 0;
-
- // pin_count is used by the stepMotor() method:
- this->pin_count = 2;
-}
-
-
-/*
- * constructor for four-pin version
- * Sets which wires should control the motor.
- */
-
-Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2, int motor_pin_3, int motor_pin_4)
-{
- this->step_number = 0; // which step the motor is on
- this->speed = 0; // the motor speed, in revolutions per minute
- this->direction = 0; // motor direction
- this->last_step_time = 0; // time stamp in ms of the last step taken
- this->number_of_steps = number_of_steps; // total number of steps for this motor
-
- // Arduino pins for the motor control connection:
- this->motor_pin_1 = motor_pin_1;
- this->motor_pin_2 = motor_pin_2;
- this->motor_pin_3 = motor_pin_3;
- this->motor_pin_4 = motor_pin_4;
-
- // setup the pins on the microcontroller:
- pinMode(this->motor_pin_1, OUTPUT);
- pinMode(this->motor_pin_2, OUTPUT);
- pinMode(this->motor_pin_3, OUTPUT);
- pinMode(this->motor_pin_4, OUTPUT);
-
- // pin_count is used by the stepMotor() method:
- this->pin_count = 4;
-}
-
-/*
- Sets the speed in revs per minute
-
-*/
-void Stepper::setSpeed(long whatSpeed)
-{
- this->step_delay = 60L * 1000L / this->number_of_steps / whatSpeed;
-}
-
-/*
- Moves the motor steps_to_move steps. If the number is negative,
- the motor moves in the reverse direction.
- */
-void Stepper::step(int steps_to_move)
-{
- int steps_left = abs(steps_to_move); // how many steps to take
-
- // determine direction based on whether steps_to_mode is + or -:
- if (steps_to_move > 0) {this->direction = 1;}
- if (steps_to_move < 0) {this->direction = 0;}
-
-
- // decrement the number of steps, moving one step each time:
- while(steps_left > 0) {
- // move only if the appropriate delay has passed:
- if (millis() - this->last_step_time >= this->step_delay) {
- // get the timeStamp of when you stepped:
- this->last_step_time = millis();
- // increment or decrement the step number,
- // depending on direction:
- if (this->direction == 1) {
- this->step_number++;
- if (this->step_number == this->number_of_steps) {
- this->step_number = 0;
- }
- }
- else {
- if (this->step_number == 0) {
- this->step_number = this->number_of_steps;
- }
- this->step_number--;
- }
- // decrement the steps left:
- steps_left--;
- // step the motor to step number 0, 1, 2, or 3:
- stepMotor(this->step_number % 4);
- }
- }
-}
-
-/*
- * Moves the motor forward or backwards.
- */
-void Stepper::stepMotor(int thisStep)
-{
- if (this->pin_count == 2) {
- switch (thisStep) {
- case 0: /* 01 */
- digitalWrite(motor_pin_1, LOW);
- digitalWrite(motor_pin_2, HIGH);
- break;
- case 1: /* 11 */
- digitalWrite(motor_pin_1, HIGH);
- digitalWrite(motor_pin_2, HIGH);
- break;
- case 2: /* 10 */
- digitalWrite(motor_pin_1, HIGH);
- digitalWrite(motor_pin_2, LOW);
- break;
- case 3: /* 00 */
- digitalWrite(motor_pin_1, LOW);
- digitalWrite(motor_pin_2, LOW);
- break;
- }
- }
- if (this->pin_count == 4) {
- switch (thisStep) {
- case 0: // 1010
- digitalWrite(motor_pin_1, HIGH);
- digitalWrite(motor_pin_2, LOW);
- digitalWrite(motor_pin_3, HIGH);
- digitalWrite(motor_pin_4, LOW);
- break;
- case 1: // 0110
- digitalWrite(motor_pin_1, LOW);
- digitalWrite(motor_pin_2, HIGH);
- digitalWrite(motor_pin_3, HIGH);
- digitalWrite(motor_pin_4, LOW);
- break;
- case 2: //0101
- digitalWrite(motor_pin_1, LOW);
- digitalWrite(motor_pin_2, HIGH);
- digitalWrite(motor_pin_3, LOW);
- digitalWrite(motor_pin_4, HIGH);
- break;
- case 3: //1001
- digitalWrite(motor_pin_1, HIGH);
- digitalWrite(motor_pin_2, LOW);
- digitalWrite(motor_pin_3, LOW);
- digitalWrite(motor_pin_4, HIGH);
- break;
- }
- }
-}
-
-/*
- version() returns the version of the library:
-*/
-int Stepper::version(void)
-{
- return 4;
-}
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