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Stepper Library supports 5 phase, 5 wire motors.
This commit is contained in:
Ryan Orendorff
Cristian Maglie
parent
caf000b005
commit
50ca5d8f75
@ -1,65 +1,79 @@
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/*
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/*
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Stepper.cpp - - Stepper library for Wiring/Arduino - Version 0.5
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* Stepper.cpp - Stepper library for Wiring/Arduino - Version 0.6
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*
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Original library (0.1) by Tom Igoe.
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* Original library (0.1) by Tom Igoe.
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Two-wire modifications (0.2) by Sebastian Gassner
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* Two-wire modifications (0.2) by Sebastian Gassner
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Combination version (0.3) by Tom Igoe and David Mellis
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* Combination version (0.3) by Tom Igoe and David Mellis
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Bug fix for four-wire (0.4) by Tom Igoe, bug fix from Noah Shibley
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* Bug fix for four-wire (0.4) by Tom Igoe, bug fix from Noah Shibley
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High-speed stepping mod and timer rollover fix (0.5) by Eugene Kozlenko
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* High-speed stepping mod and timer rollover fix (0.5) by Eugene Kozlenko
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* Five phase five wire (0.6) by Ryan Orendorff
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Drives a unipolar or bipolar stepper motor using 2 wires or 4 wires
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*
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* This library is free software; you can redistribute it and/or
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When wiring multiple stepper motors to a microcontroller,
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* modify it under the terms of the GNU Lesser General Public
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you quickly run out of output pins, with each motor requiring 4 connections.
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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By making use of the fact that at any time two of the four motor
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*
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coils are the inverse of the other two, the number of
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* This library is distributed in the hope that it will be useful,
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control connections can be reduced from 4 to 2.
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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A slightly modified circuit around a Darlington transistor array or an L293 H-bridge
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* Lesser General Public License for more details.
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connects to only 2 microcontroler pins, inverts the signals received,
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*
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and delivers the 4 (2 plus 2 inverted ones) output signals required
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* You should have received a copy of the GNU Lesser General Public
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for driving a stepper motor. Similarly the Arduino motor shields 2 direction pins
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* License along with this library; if not, write to the Free Software
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may be used.
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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The sequence of control signals for 4 control wires is as follows:
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*
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* Drives a unipolar, bipolar, or five phase stepper motor.
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Step C0 C1 C2 C3
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*
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1 1 0 1 0
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* When wiring multiple stepper motors to a microcontroller, you quickly run
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2 0 1 1 0
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* out of output pins, with each motor requiring 4 connections.
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3 0 1 0 1
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*
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4 1 0 0 1
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* By making use of the fact that at any time two of the four motor coils are
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* the inverse of the other two, the number of control connections can be
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The sequence of controls signals for 2 control wires is as follows
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* reduced from 4 to 2 for the unipolar and bipolar motors.
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(columns C1 and C2 from above):
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*
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* A slightly modified circuit around a Darlington transistor array or an
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Step C0 C1
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* L293 H-bridge connects to only 2 microcontroler pins, inverts the signals
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1 0 1
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* received, and delivers the 4 (2 plus 2 inverted ones) output signals
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2 1 1
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* required for driving a stepper motor. Similarly the Arduino motor shields
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3 1 0
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* 2 direction pins may be used.
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4 0 0
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*
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* The sequence of control signals for 5 phase, 5 control wires is as follows:
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The circuits can be found at
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*
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* Step C0 C1 C2 C3 C4
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http://www.arduino.cc/en/Tutorial/Stepper
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* 1 0 1 1 0 1
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* 2 0 1 0 0 1
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This library is free software; you can redistribute it and/or
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* 3 0 1 0 1 1
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modify it under the terms of the GNU Lesser General Public
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* 4 0 1 0 1 0
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License as published by the Free Software Foundation; either
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* 5 1 1 0 1 0
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version 2.1 of the License, or (at your option) any later version.
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* 6 1 0 0 1 0
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* 7 1 0 1 1 0
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This library is distributed in the hope that it will be useful,
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* 8 1 0 1 0 0
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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* 9 1 0 1 0 1
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* 10 0 0 1 0 1
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Lesser General Public License for more details.
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*
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* The sequence of control signals for 4 control wires is as follows:
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You should have received a copy of the GNU Lesser General Public
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*
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License along with this library; if not, write to the Free Software
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* Step C0 C1 C2 C3
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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* 1 1 0 1 0
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* 2 0 1 1 0
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* 3 0 1 0 1
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* 4 1 0 0 1
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*
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* The sequence of controls signals for 2 control wires is as follows
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* (columns C1 and C2 from above):
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*
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* Step C0 C1
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* 1 0 1
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* 2 1 1
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* 3 1 0
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* 4 0 0
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*
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* The circuits can be found at
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*
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* http://www.arduino.cc/en/Tutorial/Stepper
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*/
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*/
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#include "Arduino.h"
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#include "Arduino.h"
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#include "Stepper.h"
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#include "Stepper.h"
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@ -83,9 +97,10 @@ Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2)
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pinMode(this->motor_pin_1, OUTPUT);
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pinMode(this->motor_pin_1, OUTPUT);
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pinMode(this->motor_pin_2, OUTPUT);
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pinMode(this->motor_pin_2, OUTPUT);
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// When there are only 2 pins, set the other two to 0:
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// When there are only 2 pins, set the others to 0:
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this->motor_pin_3 = 0;
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this->motor_pin_3 = 0;
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this->motor_pin_4 = 0;
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this->motor_pin_4 = 0;
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this->motor_pin_5 = 0;
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// pin_count is used by the stepMotor() method:
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// pin_count is used by the stepMotor() method:
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this->pin_count = 2;
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this->pin_count = 2;
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@ -96,8 +111,8 @@ Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2)
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* constructor for four-pin version
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* constructor for four-pin version
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* Sets which wires should control the motor.
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* Sets which wires should control the motor.
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*/
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*/
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Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
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Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2, int motor_pin_3, int motor_pin_4)
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int motor_pin_3, int motor_pin_4)
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{
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{
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this->step_number = 0; // which step the motor is on
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this->step_number = 0; // which step the motor is on
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this->speed = 0; // the motor speed, in revolutions per minute
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this->speed = 0; // the motor speed, in revolutions per minute
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@ -117,13 +132,47 @@ Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2, int moto
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pinMode(this->motor_pin_3, OUTPUT);
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pinMode(this->motor_pin_3, OUTPUT);
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pinMode(this->motor_pin_4, OUTPUT);
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pinMode(this->motor_pin_4, OUTPUT);
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// When there are 4 pins, set the others to 0:
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this->motor_pin_5 = 0;
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// pin_count is used by the stepMotor() method:
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// pin_count is used by the stepMotor() method:
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this->pin_count = 4;
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this->pin_count = 4;
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}
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}
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/*
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/*
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Sets the speed in revs per minute
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* constructor for five phase motor with five wires
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* Sets which wires should control the motor.
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*/
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Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
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int motor_pin_3, int motor_pin_4,
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int motor_pin_5)
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{
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this->step_number = 0; // which step the motor is on
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this->speed = 0; // the motor speed, in revolutions per minute
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this->direction = 0; // motor direction
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this->last_step_time = 0; // time stamp in us of the last step taken
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this->number_of_steps = number_of_steps; // total number of steps for this motor
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// Arduino pins for the motor control connection:
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this->motor_pin_1 = motor_pin_1;
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this->motor_pin_2 = motor_pin_2;
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this->motor_pin_3 = motor_pin_3;
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this->motor_pin_4 = motor_pin_4;
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this->motor_pin_5 = motor_pin_5;
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// setup the pins on the microcontroller:
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pinMode(this->motor_pin_1, OUTPUT);
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pinMode(this->motor_pin_2, OUTPUT);
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pinMode(this->motor_pin_3, OUTPUT);
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pinMode(this->motor_pin_4, OUTPUT);
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pinMode(this->motor_pin_5, OUTPUT);
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// pin_count is used by the stepMotor() method:
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this->pin_count = 5;
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}
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/*
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* Sets the speed in revs per minute
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*/
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*/
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void Stepper::setSpeed(long whatSpeed)
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void Stepper::setSpeed(long whatSpeed)
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{
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{
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@ -131,8 +180,8 @@ void Stepper::setSpeed(long whatSpeed)
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}
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}
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/*
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/*
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Moves the motor steps_to_move steps. If the number is negative,
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* Moves the motor steps_to_move steps. If the number is negative,
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the motor moves in the reverse direction.
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* the motor moves in the reverse direction.
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*/
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*/
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void Stepper::step(int steps_to_move)
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void Stepper::step(int steps_to_move)
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{
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{
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@ -165,7 +214,10 @@ void Stepper::step(int steps_to_move)
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}
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}
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// decrement the steps left:
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// decrement the steps left:
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steps_left--;
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steps_left--;
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// step the motor to step number 0, 1, 2, or 3:
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// step the motor to step number 0, 1, ..., {3 or 10}
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if (this->pin_count == 5)
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stepMotor(this->step_number % 10);
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else
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stepMotor(this->step_number % 4);
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stepMotor(this->step_number % 4);
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}
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}
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}
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}
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@ -178,19 +230,19 @@ void Stepper::stepMotor(int thisStep)
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{
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{
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if (this->pin_count == 2) {
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if (this->pin_count == 2) {
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switch (thisStep) {
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switch (thisStep) {
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case 0: /* 01 */
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case 0: // 01
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digitalWrite(motor_pin_1, LOW);
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digitalWrite(motor_pin_1, LOW);
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digitalWrite(motor_pin_2, HIGH);
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digitalWrite(motor_pin_2, HIGH);
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break;
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break;
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case 1: /* 11 */
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case 1: // 11
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digitalWrite(motor_pin_1, HIGH);
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digitalWrite(motor_pin_1, HIGH);
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digitalWrite(motor_pin_2, HIGH);
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digitalWrite(motor_pin_2, HIGH);
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break;
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break;
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case 2: /* 10 */
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case 2: // 10
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digitalWrite(motor_pin_1, HIGH);
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digitalWrite(motor_pin_1, HIGH);
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digitalWrite(motor_pin_2, LOW);
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digitalWrite(motor_pin_2, LOW);
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break;
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break;
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case 3: /* 00 */
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case 3: // 00
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digitalWrite(motor_pin_1, LOW);
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digitalWrite(motor_pin_1, LOW);
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digitalWrite(motor_pin_2, LOW);
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digitalWrite(motor_pin_2, LOW);
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break;
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break;
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@ -224,6 +276,81 @@ void Stepper::stepMotor(int thisStep)
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break;
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break;
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}
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}
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}
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}
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if (this->pin_count == 5) {
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switch (thisStep) {
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case 0: // 01101
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digitalWrite(motor_pin_1, LOW);
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digitalWrite(motor_pin_2, HIGH);
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digitalWrite(motor_pin_3, HIGH);
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digitalWrite(motor_pin_4, LOW);
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digitalWrite(motor_pin_5, HIGH);
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break;
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case 1: // 01001
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digitalWrite(motor_pin_1, LOW);
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digitalWrite(motor_pin_2, HIGH);
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digitalWrite(motor_pin_3, LOW);
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digitalWrite(motor_pin_4, LOW);
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digitalWrite(motor_pin_5, HIGH);
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break;
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case 2: // 01011
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digitalWrite(motor_pin_1, LOW);
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digitalWrite(motor_pin_2, HIGH);
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digitalWrite(motor_pin_3, LOW);
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digitalWrite(motor_pin_4, HIGH);
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digitalWrite(motor_pin_5, HIGH);
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break;
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case 3: // 01010
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digitalWrite(motor_pin_1, LOW);
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digitalWrite(motor_pin_2, HIGH);
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digitalWrite(motor_pin_3, LOW);
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digitalWrite(motor_pin_4, HIGH);
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digitalWrite(motor_pin_5, LOW);
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break;
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case 4: // 11010
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digitalWrite(motor_pin_1, HIGH);
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digitalWrite(motor_pin_2, HIGH);
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digitalWrite(motor_pin_3, LOW);
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digitalWrite(motor_pin_4, HIGH);
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digitalWrite(motor_pin_5, LOW);
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break;
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case 5: // 10010
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digitalWrite(motor_pin_1, HIGH);
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digitalWrite(motor_pin_2, LOW);
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digitalWrite(motor_pin_3, LOW);
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digitalWrite(motor_pin_4, HIGH);
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digitalWrite(motor_pin_5, LOW);
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break;
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case 6: // 10110
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digitalWrite(motor_pin_1, HIGH);
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digitalWrite(motor_pin_2, LOW);
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digitalWrite(motor_pin_3, HIGH);
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digitalWrite(motor_pin_4, HIGH);
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digitalWrite(motor_pin_5, LOW);
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break;
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case 7: // 10100
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digitalWrite(motor_pin_1, HIGH);
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digitalWrite(motor_pin_2, LOW);
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digitalWrite(motor_pin_3, HIGH);
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digitalWrite(motor_pin_4, LOW);
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digitalWrite(motor_pin_5, LOW);
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break;
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case 8: // 10101
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digitalWrite(motor_pin_1, HIGH);
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digitalWrite(motor_pin_2, LOW);
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digitalWrite(motor_pin_3, HIGH);
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digitalWrite(motor_pin_4, LOW);
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digitalWrite(motor_pin_5, HIGH);
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break;
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case 9: // 00101
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digitalWrite(motor_pin_1, LOW);
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digitalWrite(motor_pin_2, LOW);
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digitalWrite(motor_pin_3, HIGH);
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digitalWrite(motor_pin_4, LOW);
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digitalWrite(motor_pin_5, HIGH);
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break;
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}
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}
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}
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}
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/*
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/*
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@ -1,60 +1,77 @@
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/*
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/*
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Stepper.h - - Stepper library for Wiring/Arduino - Version 0.5
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* Stepper.h - Stepper library for Wiring/Arduino - Version 0.6
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|
*
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Original library (0.1) by Tom Igoe.
|
* Original library (0.1) by Tom Igoe.
|
||||||
Two-wire modifications (0.2) by Sebastian Gassner
|
* Two-wire modifications (0.2) by Sebastian Gassner
|
||||||
Combination version (0.3) by Tom Igoe and David Mellis
|
* 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
|
* Bug fix for four-wire (0.4) by Tom Igoe, bug fix from Noah Shibley
|
||||||
High-speed stepping mod and timer rollover fix (0.5) by Eugene Kozlenko
|
* High-speed stepping mod and timer rollover fix (0.5) by Eugene Kozlenko
|
||||||
|
* Five phase five wire (0.6) by Ryan Orendorff
|
||||||
Drives a unipolar or bipolar stepper motor using 2 wires or 4 wires
|
*
|
||||||
|
* This library is free software; you can redistribute it and/or
|
||||||
When wiring multiple stepper motors to a microcontroller,
|
* modify it under the terms of the GNU Lesser General Public
|
||||||
you quickly run out of output pins, with each motor requiring 4 connections.
|
* License as published by the Free Software Foundation; either
|
||||||
|
* version 2.1 of the License, or (at your option) any later version.
|
||||||
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
|
* This library is distributed in the hope that it will be useful,
|
||||||
control connections can be reduced from 4 to 2.
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||||
A slightly modified circuit around a Darlington transistor array or an L293 H-bridge
|
* Lesser General Public License for more details.
|
||||||
connects to only 2 microcontroler pins, inverts the signals received,
|
*
|
||||||
and delivers the 4 (2 plus 2 inverted ones) output signals required
|
* You should have received a copy of the GNU Lesser General Public
|
||||||
for driving a stepper motor. Similarly the Arduino motor shields 2 direction pins
|
* License along with this library; if not, write to the Free Software
|
||||||
may be used.
|
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||||
|
*
|
||||||
The sequence of control signals for 4 control wires is as follows:
|
*
|
||||||
|
* Drives a unipolar, bipolar, or five phase stepper motor.
|
||||||
Step C0 C1 C2 C3
|
*
|
||||||
1 1 0 1 0
|
* When wiring multiple stepper motors to a microcontroller, you quickly run
|
||||||
2 0 1 1 0
|
* out of output pins, with each motor requiring 4 connections.
|
||||||
3 0 1 0 1
|
*
|
||||||
4 1 0 0 1
|
* 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
|
||||||
The sequence of controls signals for 2 control wires is as follows
|
* reduced from 4 to 2 for the unipolar and bipolar motors.
|
||||||
(columns C1 and C2 from above):
|
*
|
||||||
|
* A slightly modified circuit around a Darlington transistor array or an
|
||||||
Step C0 C1
|
* L293 H-bridge connects to only 2 microcontroler pins, inverts the signals
|
||||||
1 0 1
|
* received, and delivers the 4 (2 plus 2 inverted ones) output signals
|
||||||
2 1 1
|
* required for driving a stepper motor. Similarly the Arduino motor shields
|
||||||
3 1 0
|
* 2 direction pins may be used.
|
||||||
4 0 0
|
*
|
||||||
|
* The sequence of control signals for 5 phase, 5 control wires is as follows:
|
||||||
The circuits can be found at
|
*
|
||||||
http://www.arduino.cc/en/Tutorial/Stepper
|
* Step C0 C1 C2 C3 C4
|
||||||
|
* 1 0 1 1 0 1
|
||||||
This library is free software; you can redistribute it and/or
|
* 2 0 1 0 0 1
|
||||||
modify it under the terms of the GNU Lesser General Public
|
* 3 0 1 0 1 1
|
||||||
License as published by the Free Software Foundation; either
|
* 4 0 1 0 1 0
|
||||||
version 2.1 of the License, or (at your option) any later version.
|
* 5 1 1 0 1 0
|
||||||
|
* 6 1 0 0 1 0
|
||||||
This library is distributed in the hope that it will be useful,
|
* 7 1 0 1 1 0
|
||||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
* 8 1 0 1 0 0
|
||||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
* 9 1 0 1 0 1
|
||||||
Lesser General Public License for more details.
|
* 10 0 0 1 0 1
|
||||||
|
*
|
||||||
You should have received a copy of the GNU Lesser General Public
|
* The sequence of control signals for 4 control wires is as follows:
|
||||||
License along with this library; if not, write to the Free Software
|
*
|
||||||
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
* 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
|
// ensure this library description is only included once
|
||||||
@ -66,7 +83,11 @@ class Stepper {
|
|||||||
public:
|
public:
|
||||||
// constructors:
|
// 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);
|
||||||
Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2, int motor_pin_3, int motor_pin_4);
|
Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
|
||||||
|
int motor_pin_3, int motor_pin_4);
|
||||||
|
Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
|
||||||
|
int motor_pin_3, int motor_pin_4,
|
||||||
|
int motor_pin_5);
|
||||||
|
|
||||||
// speed setter method:
|
// speed setter method:
|
||||||
void setSpeed(long whatSpeed);
|
void setSpeed(long whatSpeed);
|
||||||
@ -81,9 +102,9 @@ class Stepper {
|
|||||||
|
|
||||||
int direction; // Direction of rotation
|
int direction; // Direction of rotation
|
||||||
int speed; // Speed in RPMs
|
int speed; // Speed in RPMs
|
||||||
unsigned long step_delay; // delay between steps, in us, based on speed
|
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 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 pin_count; // how many pins are in use.
|
||||||
int step_number; // which step the motor is on
|
int step_number; // which step the motor is on
|
||||||
|
|
||||||
// motor pin numbers:
|
// motor pin numbers:
|
||||||
@ -91,6 +112,7 @@ class Stepper {
|
|||||||
int motor_pin_2;
|
int motor_pin_2;
|
||||||
int motor_pin_3;
|
int motor_pin_3;
|
||||||
int motor_pin_4;
|
int motor_pin_4;
|
||||||
|
int motor_pin_5; // Only 5 phase motor
|
||||||
|
|
||||||
unsigned long last_step_time; // time stamp in us of when the last step was taken
|
unsigned long last_step_time; // time stamp in us of when the last step was taken
|
||||||
};
|
};
|
||||||
|
|||||||
Loading…
x
Reference in New Issue
Block a user