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87 lines
2.5 KiB
C++
87 lines
2.5 KiB
C++
/*
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Stepper.h - - Stepper library for Wiring/Arduino - Version 0.4
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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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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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Drives a unipolar or bipolar stepper motor using 2 wires or 4 wires
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When wiring multiple stepper motors to a microcontroller,
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you quickly run out of output pins, with each motor requiring 4 connections.
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By making use of the fact that at any time two of the four motor
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coils are the inverse of the other two, the number of
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control connections can be reduced from 4 to 2.
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A slightly modified circuit around a Darlington transistor array or an L293 H-bridge
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connects to only 2 microcontroler pins, inverts the signals received,
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and delivers the 4 (2 plus 2 inverted ones) output signals required
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for driving a stepper motor.
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The sequence of control signals for 4 control wires is as follows:
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Step C0 C1 C2 C3
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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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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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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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The circuits can be found at
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http://www.arduino.cc/en/Tutorial/Stepper
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*/
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// ensure this library description is only included once
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#ifndef Stepper_h
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#define Stepper_h
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// include types & constants of Wiring core API
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#include "WConstants.h"
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// library interface description
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class Stepper {
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public:
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// constructors:
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Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2);
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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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// speed setter method:
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void setSpeed(long whatSpeed);
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// mover method:
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void step(int number_of_steps);
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int version(void);
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private:
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void stepMotor(int this_step);
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int direction; // Direction of rotation
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int speed; // Speed in RPMs
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unsigned long step_delay; // delay between steps, in ms, based on speed
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int number_of_steps; // total number of steps this motor can take
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int pin_count; // whether you're driving the motor with 2 or 4 pins
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int step_number; // which step the motor is on
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// motor pin numbers:
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int motor_pin_1;
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int motor_pin_2;
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int motor_pin_3;
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int motor_pin_4;
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long last_step_time; // time stamp in ms of when the last step was taken
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};
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#endif
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