arduino stuffs
Diffstat (limited to 'libraries/Stepper/src/Stepper.h')
| -rw-r--r-- | libraries/Stepper/src/Stepper.h | 121 |
1 files changed, 0 insertions, 121 deletions
diff --git a/libraries/Stepper/src/Stepper.h b/libraries/Stepper/src/Stepper.h deleted file mode 100644 index 2e68979..0000000 --- a/libraries/Stepper/src/Stepper.h +++ /dev/null @@ -1,121 +0,0 @@ -/* - * Stepper.h - 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 - */ - -// 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); - 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); - - // 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 - 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; // how many pins are in use. - 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; - int motor_pin_5; // Only 5 phase motor - - unsigned long last_step_time; // time stamp in us of when the last step was taken -}; - -#endif - |