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-/*
- Stepper.h - - 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
-*/
-
-// ensure this library description is only included once
-#ifndef Stepper_h
-#define Stepper_h
-
-// library interface description
-class Stepper {
- public:
- // constructors:
- Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2);
- Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2, int motor_pin_3, int motor_pin_4);
-
- // speed setter method:
- void setSpeed(long whatSpeed);
-
- // mover method:
- void step(int number_of_steps);
-
- int version(void);
-
- private:
- void stepMotor(int this_step);
-
- int direction; // Direction of rotation
- int speed; // Speed in RPMs
- unsigned long step_delay; // delay between steps, in ms, based on speed
- int number_of_steps; // total number of steps this motor can take
- int pin_count; // whether you're driving the motor with 2 or 4 pins
- int step_number; // which step the motor is on
-
- // motor pin numbers:
- int motor_pin_1;
- int motor_pin_2;
- int motor_pin_3;
- int motor_pin_4;
-
- long last_step_time; // time stamp in ms of when the last step was taken
-};
-
-#endif
-