| /* | |
| * 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 | |
| // 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 | |
| }; | |