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Added the Stepper motor library (and reference, and to the readme).

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David A. Mellis 2007-05-17 17:34:48 +00:00
parent fa585fd099
commit d706245ea5
7 changed files with 380 additions and 0 deletions
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2
build/fetch.sh
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@ -14,12 +14,14 @@ curl http://arduino.cc/en/Main/Environment -o environment.html
curl http://www.arduino.cc/en/Reference/HomePage -o index.html
curl http://www.arduino.cc/en/Reference/SoftwareSerial -o SoftwareSerial.html
curl http://www.arduino.cc/en/Reference/EEPROM -o EEPROM.html
curl http://www.arduino.cc/en/Reference/Stepper -o Stepper.html
curl http://www.arduino.cc/en/pub/skins/arduino/arduino.css -o arduino.css
for i in `grep -o "http://www.arduino.cc/en/Guide/[^']*" Guide_index.html | sort -u | grep -v '?' | cut -d '/' -f 6`; do curl http://www.arduino.cc/en/Guide/$i -o Guide_$i.html; done
for i in `grep -o "http://www.arduino.cc/en/Reference/[^']*" index.html | sort -u | grep -v '?' | cut -d '/' -f 6`; do curl http://www.arduino.cc/en/Reference/$i -o $i.html; done
for i in `grep -o "http://www.arduino.cc/en/Serial/[^']*" index.html | sort -u | grep -v '?' | cut -d '/' -f 6`; do curl http://www.arduino.cc/en/Serial/$i -o Serial_$i.html; done
for i in `grep -o "http://www.arduino.cc/en/Reference/SoftwareSerial[^']*" SoftwareSerial.html | sort -u | grep -v '?' | cut -d '/' -f 6`; do curl http://www.arduino.cc/en/Reference/$i -o $i.html; done
for i in `grep -o "http://www.arduino.cc/en/Reference/EEPROM[^']*" EEPROM.html | sort -u | grep -v '?' | cut -d '/' -f 6`; do curl http://www.arduino.cc/en/Reference/$i -o $i.html; done
for i in `grep -o "http://www.arduino.cc/en/Reference/Stepper[^']*" Stepper.html | sort -u | grep -v '?' | cut -d '/' -f 6`; do curl http://www.arduino.cc/en/Reference/$i -o $i.html; done
perl -i -pe "s|http://www.arduino.cc/en/Reference/[^?\"']*\?[^'\"]*|#|g" *.html # replace links to unknown pages with links to '#'
perl -i -pe "s|http://www.arduino.cc/en/Guide/([^']*)|Guide_\1.html|g" *.html # replace links to remote guide with links to local guide
perl -i -pe "s|http://www.arduino.cc/en/Reference/([^']*)|\1.html|g" *.html # replace links to remote reference with links to local reference

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build/shared/reference.zip
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4
readme.txt
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@ -48,7 +48,9 @@ UPDATES
0008
* Updated examples (in distribution and on the website).
* Added an EEPROM library (see reference for details).
* Added a Stepper motor library (see reference).
* Patched to reduce binary sketch sizes by building the Arduino core as
a library (.a) file - now only the needed parts of the core are linked into
a sketch. Originally written by Nicolas Roland, revised by Don Cross.
@ -60,6 +62,8 @@ UPDATES
* Lots of reference additions and fixes from Paul Badger.
* Changed default microcontroller to ATmega168 from ATmega8.
* Removed the delay from analogRead().
* Activating TWI/I2C pullup resistors on the ATmega168 (in addition to the
ATmega8).
0007 - 2006.12.25

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targets/libraries/Stepper/Stepper.cpp Normal file
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@ -0,0 +1,220 @@
/*
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) {
// step the motor to step number 0, 1, 2, or 3:
stepMotor(this->step_number % 4);
// 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--;
}
}
}
/*
* 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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targets/libraries/Stepper/Stepper.h Normal file
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@ -0,0 +1,86 @@
/*
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
// include types & constants of Wiring core API
#include "WConstants.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

40
targets/libraries/Stepper/examples/MotorKnob/MotorKnob.pde Normal file
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@ -0,0 +1,40 @@
/*
* MotorKnob
*
* A stepper motor follows the turns of a potentiometer
* (or other sensor) on analog input 0.
*
* http://www.arduino.cc/en/Reference/Stepper
*/
#include <Stepper.h>
// change this to the number of steps on your motor
#define STEPS 100
// create an instance of the stepper class, specifying
// the number of steps of the motor and the pins it's
// attached to
Stepper stepper(STEPS, 8, 9, 10, 11);
// the previous reading from the analog input
int previous = 0;
void setup()
{
// set the speed of the motor to 30 RPMs
stepper.setSpeed(30);
}
void loop()
{
// get the sensor value
int val = analogRead(0);
// move a number of steps equal to the change in the
// sensor reading
stepper.step(val - previous);
// remember the previous value of the sensor
previous = val;
}

28
targets/libraries/Stepper/keywords.txt Normal file
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@ -0,0 +1,28 @@
#######################################
# Syntax Coloring Map For Test
#######################################
#######################################
# Datatypes (KEYWORD1)
#######################################
Stepper KEYWORD1
#######################################
# Methods and Functions (KEYWORD2)
#######################################
step KEYWORD2
setSpeed KEYWORD2
version KEYWORD2
######################################
# Instances (KEYWORD2)
#######################################
direction KEYWORD2
speed KEYWORD2
#######################################
# Constants (LITERAL1)
#######################################