arduino stuffs
Diffstat (limited to 'libraries/Stepper/src/Stepper.cpp')
| -rw-r--r-- | libraries/Stepper/src/Stepper.cpp | 365 |
1 files changed, 0 insertions, 365 deletions
diff --git a/libraries/Stepper/src/Stepper.cpp b/libraries/Stepper/src/Stepper.cpp deleted file mode 100644 index 1f76295..0000000 --- a/libraries/Stepper/src/Stepper.cpp +++ /dev/null @@ -1,365 +0,0 @@ -/* - * 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; -} |