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122 lines
4.0 KiB
122 lines
4.0 KiB
/*
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* Stepper.h - Stepper library for Wiring/Arduino - Version 1.1.0
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*
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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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* High-speed stepping mod by Eugene Kozlenko
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* Timer rollover fix by Eugene Kozlenko
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* Five phase five wire (1.1.0) by Ryan Orendorff
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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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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*
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* This library is distributed in the hope that it will be useful,
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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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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*
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* Drives a unipolar, bipolar, or five phase stepper motor.
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*
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* When wiring multiple stepper motors to a microcontroller, you quickly run
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* out of output pins, with each motor requiring 4 connections.
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*
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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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* reduced from 4 to 2 for the unipolar and bipolar motors.
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*
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* A slightly modified circuit around a Darlington transistor array or an
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* L293 H-bridge connects to only 2 microcontroler pins, inverts the signals
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* received, and delivers the 4 (2 plus 2 inverted ones) output signals
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* required for driving a stepper motor. Similarly the Arduino motor shields
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* 2 direction pins may be used.
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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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*
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* Step C0 C1 C2 C3 C4
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* 1 0 1 1 0 1
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* 2 0 1 0 0 1
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* 3 0 1 0 1 1
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* 4 0 1 0 1 0
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* 5 1 1 0 1 0
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* 6 1 0 0 1 0
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* 7 1 0 1 1 0
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* 8 1 0 1 0 0
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* 9 1 0 1 0 1
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* 10 0 0 1 0 1
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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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* 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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*
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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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// 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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// 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,
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int motor_pin_3, int motor_pin_4);
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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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// 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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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; // how many pins are in use.
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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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int motor_pin_5; // Only 5 phase motor
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unsigned long last_step_time; // time stamp in us of when the last step was taken
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};
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#endif
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