arduino stuffs
Diffstat (limited to 'libraries/Stepper/src/Stepper.cpp')
| -rw-r--r-- | libraries/Stepper/src/Stepper.cpp | 365 |
1 files changed, 365 insertions, 0 deletions
diff --git a/libraries/Stepper/src/Stepper.cpp b/libraries/Stepper/src/Stepper.cpp new file mode 100644 index 0000000..1f76295 --- /dev/null +++ b/libraries/Stepper/src/Stepper.cpp @@ -0,0 +1,365 @@ +/* + * Stepper.cpp - Stepper library for Wiring/Arduino - Version 1.1.0 + * + * 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 + * High-speed stepping mod by Eugene Kozlenko + * Timer rollover fix by Eugene Kozlenko + * Five phase five wire (1.1.0) by Ryan Orendorff + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + * + * + * Drives a unipolar, bipolar, or five phase stepper motor. + * + * 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 for the unipolar and bipolar motors. + * + * 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. Similarly the Arduino motor shields + * 2 direction pins may be used. + * + * The sequence of control signals for 5 phase, 5 control wires is as follows: + * + * Step C0 C1 C2 C3 C4 + * 1 0 1 1 0 1 + * 2 0 1 0 0 1 + * 3 0 1 0 1 1 + * 4 0 1 0 1 0 + * 5 1 1 0 1 0 + * 6 1 0 0 1 0 + * 7 1 0 1 1 0 + * 8 1 0 1 0 0 + * 9 1 0 1 0 1 + * 10 0 0 1 0 1 + * + * 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 "Arduino.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->direction = 0; // motor direction + this->last_step_time = 0; // time stamp in us 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 others to 0: + this->motor_pin_3 = 0; + this->motor_pin_4 = 0; + this->motor_pin_5 = 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->direction = 0; // motor direction + this->last_step_time = 0; // time stamp in us 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); + + // When there are 4 pins, set the others to 0: + this->motor_pin_5 = 0; + + // pin_count is used by the stepMotor() method: + this->pin_count = 4; +} + +/* + * constructor for five phase motor with five wires + * 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, + int motor_pin_5) +{ + this->step_number = 0; // which step the motor is on + this->direction = 0; // motor direction + this->last_step_time = 0; // time stamp in us 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; + this->motor_pin_5 = motor_pin_5; + + // 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); + pinMode(this->motor_pin_5, OUTPUT); + + // pin_count is used by the stepMotor() method: + this->pin_count = 5; +} + +/* + * Sets the speed in revs per minute + */ +void Stepper::setSpeed(long whatSpeed) +{ + this->step_delay = 60L * 1000L * 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) + { + unsigned long now = micros(); + // move only if the appropriate delay has passed: + if (now - this->last_step_time >= this->step_delay) + { + // get the timeStamp of when you stepped: + this->last_step_time = now; + // 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--; + // step the motor to step number 0, 1, ..., {3 or 10} + if (this->pin_count == 5) + stepMotor(this->step_number % 10); + else + stepMotor(this->step_number % 4); + } + } +} + +/* + * 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; + } + } + + if (this->pin_count == 5) { + switch (thisStep) { + case 0: // 01101 + digitalWrite(motor_pin_1, LOW); + digitalWrite(motor_pin_2, HIGH); + digitalWrite(motor_pin_3, HIGH); + digitalWrite(motor_pin_4, LOW); + digitalWrite(motor_pin_5, HIGH); + break; + case 1: // 01001 + digitalWrite(motor_pin_1, LOW); + digitalWrite(motor_pin_2, HIGH); + digitalWrite(motor_pin_3, LOW); + digitalWrite(motor_pin_4, LOW); + digitalWrite(motor_pin_5, HIGH); + break; + case 2: // 01011 + digitalWrite(motor_pin_1, LOW); + digitalWrite(motor_pin_2, HIGH); + digitalWrite(motor_pin_3, LOW); + digitalWrite(motor_pin_4, HIGH); + digitalWrite(motor_pin_5, HIGH); + break; + case 3: // 01010 + digitalWrite(motor_pin_1, LOW); + digitalWrite(motor_pin_2, HIGH); + digitalWrite(motor_pin_3, LOW); + digitalWrite(motor_pin_4, HIGH); + digitalWrite(motor_pin_5, LOW); + break; + case 4: // 11010 + digitalWrite(motor_pin_1, HIGH); + digitalWrite(motor_pin_2, HIGH); + digitalWrite(motor_pin_3, LOW); + digitalWrite(motor_pin_4, HIGH); + digitalWrite(motor_pin_5, LOW); + break; + case 5: // 10010 + digitalWrite(motor_pin_1, HIGH); + digitalWrite(motor_pin_2, LOW); + digitalWrite(motor_pin_3, LOW); + digitalWrite(motor_pin_4, HIGH); + digitalWrite(motor_pin_5, LOW); + break; + case 6: // 10110 + digitalWrite(motor_pin_1, HIGH); + digitalWrite(motor_pin_2, LOW); + digitalWrite(motor_pin_3, HIGH); + digitalWrite(motor_pin_4, HIGH); + digitalWrite(motor_pin_5, LOW); + break; + case 7: // 10100 + digitalWrite(motor_pin_1, HIGH); + digitalWrite(motor_pin_2, LOW); + digitalWrite(motor_pin_3, HIGH); + digitalWrite(motor_pin_4, LOW); + digitalWrite(motor_pin_5, LOW); + break; + case 8: // 10101 + digitalWrite(motor_pin_1, HIGH); + digitalWrite(motor_pin_2, LOW); + digitalWrite(motor_pin_3, HIGH); + digitalWrite(motor_pin_4, LOW); + digitalWrite(motor_pin_5, HIGH); + break; + case 9: // 00101 + digitalWrite(motor_pin_1, LOW); + digitalWrite(motor_pin_2, LOW); + digitalWrite(motor_pin_3, HIGH); + digitalWrite(motor_pin_4, LOW); + digitalWrite(motor_pin_5, HIGH); + break; + } + } +} + +/* + version() returns the version of the library: +*/ +int Stepper::version(void) +{ + return 5; +} |