Stepper library to the new format
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/*
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Stepper.cpp - - Stepper library for Wiring/Arduino - Version 0.4
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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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Drives a unipolar or bipolar stepper motor using 2 wires or 4 wires
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When wiring multiple stepper motors to a microcontroller,
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you quickly run out of output pins, with each motor requiring 4 connections.
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By making use of the fact that at any time two of the four motor
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coils are the inverse of the other two, the number of
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control connections can be reduced from 4 to 2.
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A slightly modified circuit around a Darlington transistor array or an L293 H-bridge
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connects to only 2 microcontroler pins, inverts the signals received,
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and delivers the 4 (2 plus 2 inverted ones) output signals required
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for driving a stepper motor.
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The sequence of control signals for 4 control wires is as follows:
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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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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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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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The circuits can be found at
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http://www.arduino.cc/en/Tutorial/Stepper
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*/
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#include "Arduino.h"
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#include "Stepper.h"
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/*
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* two-wire constructor.
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* Sets which wires should control the motor.
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*/
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Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2)
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{
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this->step_number = 0; // which step the motor is on
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this->speed = 0; // the motor speed, in revolutions per minute
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this->direction = 0; // motor direction
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this->last_step_time = 0; // time stamp in ms of the last step taken
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this->number_of_steps = number_of_steps; // total number of steps for this motor
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// Arduino pins for the motor control connection:
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this->motor_pin_1 = motor_pin_1;
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this->motor_pin_2 = motor_pin_2;
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// setup the pins on the microcontroller:
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pinMode(this->motor_pin_1, OUTPUT);
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pinMode(this->motor_pin_2, OUTPUT);
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// When there are only 2 pins, set the other two to 0:
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this->motor_pin_3 = 0;
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this->motor_pin_4 = 0;
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// pin_count is used by the stepMotor() method:
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this->pin_count = 2;
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}
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/*
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* constructor for four-pin version
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* Sets which wires should control the motor.
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*/
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Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2, int motor_pin_3, int motor_pin_4)
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{
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this->step_number = 0; // which step the motor is on
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this->speed = 0; // the motor speed, in revolutions per minute
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this->direction = 0; // motor direction
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this->last_step_time = 0; // time stamp in ms of the last step taken
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this->number_of_steps = number_of_steps; // total number of steps for this motor
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// Arduino pins for the motor control connection:
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this->motor_pin_1 = motor_pin_1;
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this->motor_pin_2 = motor_pin_2;
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this->motor_pin_3 = motor_pin_3;
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this->motor_pin_4 = motor_pin_4;
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// setup the pins on the microcontroller:
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pinMode(this->motor_pin_1, OUTPUT);
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pinMode(this->motor_pin_2, OUTPUT);
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pinMode(this->motor_pin_3, OUTPUT);
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pinMode(this->motor_pin_4, OUTPUT);
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// pin_count is used by the stepMotor() method:
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this->pin_count = 4;
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}
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/*
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Sets the speed in revs per minute
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*/
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void Stepper::setSpeed(long whatSpeed)
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{
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this->step_delay = 60L * 1000L / this->number_of_steps / whatSpeed;
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}
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/*
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Moves the motor steps_to_move steps. If the number is negative,
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the motor moves in the reverse direction.
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*/
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void Stepper::step(int steps_to_move)
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{
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int steps_left = abs(steps_to_move); // how many steps to take
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// determine direction based on whether steps_to_mode is + or -:
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if (steps_to_move > 0) {this->direction = 1;}
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if (steps_to_move < 0) {this->direction = 0;}
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// decrement the number of steps, moving one step each time:
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while(steps_left > 0) {
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// move only if the appropriate delay has passed:
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if (millis() - this->last_step_time >= this->step_delay) {
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// get the timeStamp of when you stepped:
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this->last_step_time = millis();
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// increment or decrement the step number,
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// depending on direction:
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if (this->direction == 1) {
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this->step_number++;
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if (this->step_number == this->number_of_steps) {
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this->step_number = 0;
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}
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}
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else {
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if (this->step_number == 0) {
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this->step_number = this->number_of_steps;
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}
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this->step_number--;
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}
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// decrement the steps left:
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steps_left--;
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// step the motor to step number 0, 1, 2, or 3:
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stepMotor(this->step_number % 4);
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}
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}
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}
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/*
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* Moves the motor forward or backwards.
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*/
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void Stepper::stepMotor(int thisStep)
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{
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if (this->pin_count == 2) {
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switch (thisStep) {
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case 0: /* 01 */
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digitalWrite(motor_pin_1, LOW);
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digitalWrite(motor_pin_2, HIGH);
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break;
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case 1: /* 11 */
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digitalWrite(motor_pin_1, HIGH);
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digitalWrite(motor_pin_2, HIGH);
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break;
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case 2: /* 10 */
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digitalWrite(motor_pin_1, HIGH);
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digitalWrite(motor_pin_2, LOW);
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break;
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case 3: /* 00 */
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digitalWrite(motor_pin_1, LOW);
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digitalWrite(motor_pin_2, LOW);
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break;
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}
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}
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if (this->pin_count == 4) {
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switch (thisStep) {
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case 0: // 1010
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digitalWrite(motor_pin_1, HIGH);
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digitalWrite(motor_pin_2, LOW);
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digitalWrite(motor_pin_3, HIGH);
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digitalWrite(motor_pin_4, LOW);
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break;
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case 1: // 0110
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digitalWrite(motor_pin_1, LOW);
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digitalWrite(motor_pin_2, HIGH);
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digitalWrite(motor_pin_3, HIGH);
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digitalWrite(motor_pin_4, LOW);
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break;
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case 2: //0101
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digitalWrite(motor_pin_1, LOW);
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digitalWrite(motor_pin_2, HIGH);
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digitalWrite(motor_pin_3, LOW);
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digitalWrite(motor_pin_4, HIGH);
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break;
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case 3: //1001
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digitalWrite(motor_pin_1, HIGH);
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digitalWrite(motor_pin_2, LOW);
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digitalWrite(motor_pin_3, LOW);
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digitalWrite(motor_pin_4, HIGH);
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break;
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}
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}
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}
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/*
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version() returns the version of the library:
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*/
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int Stepper::version(void)
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{
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return 4;
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}
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@ -1,83 +0,0 @@
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/*
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Stepper.h - - Stepper library for Wiring/Arduino - Version 0.4
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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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Drives a unipolar or bipolar stepper motor using 2 wires or 4 wires
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When wiring multiple stepper motors to a microcontroller,
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you quickly run out of output pins, with each motor requiring 4 connections.
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By making use of the fact that at any time two of the four motor
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coils are the inverse of the other two, the number of
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control connections can be reduced from 4 to 2.
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A slightly modified circuit around a Darlington transistor array or an L293 H-bridge
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connects to only 2 microcontroler pins, inverts the signals received,
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and delivers the 4 (2 plus 2 inverted ones) output signals required
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for driving a stepper motor.
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The sequence of control signals for 4 control wires is as follows:
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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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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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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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The circuits can be found at
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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, int motor_pin_3, int motor_pin_4);
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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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int speed; // Speed in RPMs
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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; // whether you're driving the motor with 2 or 4 pins
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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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long last_step_time; // time stamp in ms of when the last step was taken
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};
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#endif
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/*
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* MotorKnob
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*
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* A stepper motor follows the turns of a potentiometer
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* (or other sensor) on analog input 0.
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*
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* http://www.arduino.cc/en/Reference/Stepper
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* This example code is in the public domain.
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*/
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#include <Stepper.h>
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// change this to the number of steps on your motor
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#define STEPS 100
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// create an instance of the stepper class, specifying
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// the number of steps of the motor and the pins it's
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// attached to
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Stepper stepper(STEPS, 8, 9, 10, 11);
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// the previous reading from the analog input
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int previous = 0;
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void setup()
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{
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// set the speed of the motor to 30 RPMs
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stepper.setSpeed(30);
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}
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void loop()
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{
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// get the sensor value
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int val = analogRead(0);
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// move a number of steps equal to the change in the
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// sensor reading
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stepper.step(val - previous);
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// remember the previous value of the sensor
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previous = val;
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}
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@ -1,44 +0,0 @@
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/*
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Stepper Motor Control - one revolution
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This program drives a unipolar or bipolar stepper motor.
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The motor is attached to digital pins 8 - 11 of the Arduino.
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The motor should revolve one revolution in one direction, then
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one revolution in the other direction.
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Created 11 Mar. 2007
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Modified 30 Nov. 2009
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by Tom Igoe
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*/
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#include <Stepper.h>
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const int stepsPerRevolution = 200; // change this to fit the number of steps per revolution
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// for your motor
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// initialize the stepper library on pins 8 through 11:
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Stepper myStepper(stepsPerRevolution, 8,9,10,11);
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void setup() {
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// set the speed at 60 rpm:
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myStepper.setSpeed(60);
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// initialize the serial port:
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Serial.begin(9600);
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}
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void loop() {
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// step one revolution in one direction:
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Serial.println("clockwise");
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myStepper.step(stepsPerRevolution);
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delay(500);
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// step one revolution in the other direction:
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Serial.println("counterclockwise");
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myStepper.step(-stepsPerRevolution);
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delay(500);
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}
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/*
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Stepper Motor Control - one step at a time
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This program drives a unipolar or bipolar stepper motor.
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The motor is attached to digital pins 8 - 11 of the Arduino.
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The motor will step one step at a time, very slowly. You can use this to
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test that you've got the four wires of your stepper wired to the correct
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pins. If wired correctly, all steps should be in the same direction.
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Use this also to count the number of steps per revolution of your motor,
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if you don't know it. Then plug that number into the oneRevolution
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example to see if you got it right.
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Created 30 Nov. 2009
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by Tom Igoe
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*/
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#include <Stepper.h>
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const int stepsPerRevolution = 200; // change this to fit the number of steps per revolution
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// for your motor
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// initialize the stepper library on pins 8 through 11:
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Stepper myStepper(stepsPerRevolution, 8,9,10,11);
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int stepCount = 0; // number of steps the motor has taken
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void setup() {
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// initialize the serial port:
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Serial.begin(9600);
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}
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void loop() {
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// step one step:
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myStepper.step(1);
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Serial.print("steps:" );
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Serial.println(stepCount);
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stepCount++;
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delay(500);
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}
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@ -1,48 +0,0 @@
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/*
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Stepper Motor Control - speed control
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This program drives a unipolar or bipolar stepper motor.
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The motor is attached to digital pins 8 - 11 of the Arduino.
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A potentiometer is connected to analog input 0.
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The motor will rotate in a clockwise direction. The higher the potentiometer value,
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the faster the motor speed. Because setSpeed() sets the delay between steps,
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you may notice the motor is less responsive to changes in the sensor value at
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low speeds.
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Created 30 Nov. 2009
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Modified 28 Oct 2010
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by Tom Igoe
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*/
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#include <Stepper.h>
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const int stepsPerRevolution = 200; // change this to fit the number of steps per revolution
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// for your motor
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// initialize the stepper library on pins 8 through 11:
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Stepper myStepper(stepsPerRevolution, 8,9,10,11);
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int stepCount = 0; // number of steps the motor has taken
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void setup() {
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// nothing to do inside the setup
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}
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void loop() {
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// read the sensor value:
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int sensorReading = analogRead(A0);
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// map it to a range from 0 to 100:
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int motorSpeed = map(sensorReading, 0, 1023, 0, 100);
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// set the motor speed:
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if (motorSpeed > 0) {
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myStepper.setSpeed(motorSpeed);
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// step 1/100 of a revolution:
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myStepper.step(stepsPerRevolution/100);
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}
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}
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@ -1,28 +0,0 @@
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#######################################
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# Syntax Coloring Map For Test
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#######################################
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#######################################
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# Datatypes (KEYWORD1)
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#######################################
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Stepper KEYWORD1
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#######################################
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# Methods and Functions (KEYWORD2)
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#######################################
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step KEYWORD2
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setSpeed KEYWORD2
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version KEYWORD2
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######################################
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# Instances (KEYWORD2)
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#######################################
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direction KEYWORD2
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speed KEYWORD2
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#######################################
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# Constants (LITERAL1)
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#######################################
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