mirror of
https://github.com/arduino/Arduino.git
synced 2024-11-30 11:24:12 +01:00
84 lines
2.4 KiB
C++
84 lines
2.4 KiB
C++
/*
|
|
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
|
|
|