File content as of revision 14:82248fb06e53:

// stepper.cpp of SCRIBE stepper -> updated for pololu motors
#include "mbed.h";

DigitalOut yellow_l(p5);
DigitalOut orange_l(p6);
DigitalOut brown_l(p7);
DigitalOut black_l(p8);

DigitalOut yellow_r(p17);
DigitalOut orange_r(p18);
DigitalOut brown_r(p19);
DigitalOut black_r(p20);

int wait_t = 60;
int case_stepf = 0;
int case_right = 0;
int case_left = 0;
int case_rone = 0;


//StepperMotorUni motor( p17, p18, p19, p20);
int step_f(){
    switch(case_stepf){
        case 0:  
            //step 0101
            black_l = 0;
            orange_l = 0;
            brown_l = 1;
            yellow_l = 1;
            black_r = 1;
            orange_r = 0;
            brown_r = 0;
            yellow_r = 1;
            
            wait_ms(wait_t);
            case_stepf=1;
            break;
            
        case 1:
            //step 1100
            black_l = 0;
            orange_l = 1;
            brown_l = 1;
            yellow_l = 0;
            black_r = 1;
            orange_r = 1;
            brown_r = 0;
            yellow_r = 0;
            
            wait_ms(wait_t);
            case_stepf=2;
            break;
            
        case 2:
            //step 1010
            black_l = 1;
            orange_l = 1;
            brown_l = 0;
            yellow_l = 0;
            black_r = 0;
            orange_r = 1;
            brown_r = 1;
            yellow_r = 0;
            
            wait_ms(wait_t);
            case_stepf = 3;
            break;
        
        case 3:
            //step 0011
            black_l = 1;
            orange_l = 0;
            brown_l = 0;
            yellow_l = 1;
            black_r = 0;
            orange_r = 0;
            brown_r = 1;
            yellow_r = 1;
            
            wait_ms(wait_t);
            case_stepf = 0;
            break;
    }
    return 1;
}


int step_b(){ 
        //step 0101
    black_r = 0;
    orange_r = 0;
    brown_r = 1;
    yellow_r = 1;
    black_l = 1;
    orange_l = 0;
    brown_l = 0;
    yellow_l = 1;
    
    wait_ms(wait_t);
    
    //step 1100
    black_r = 0;
    orange_r = 1;
    brown_r = 1;
    yellow_r = 0;
    black_l = 1;
    orange_l = 1;
    brown_l = 0;
    yellow_l = 0;
    
    wait_ms(wait_t);
    
    //step 1010
    black_r = 1;
    orange_r = 1;
    brown_r = 0;
    yellow_r = 0;
    black_l = 0;
    orange_l = 1;
    brown_l = 1;
    yellow_l = 0;
    
    wait_ms(wait_t);
    
    //step 0011
    black_r = 1;
    orange_r = 0;
    brown_r = 0;
    yellow_r = 1;
    black_l = 0;
    orange_l = 0;
    brown_l = 1;
    yellow_l = 1;
    
    wait_ms(wait_t);

    return 1;
}

int step_left(){
    switch(case_right){
        case 0:
            //step 0101
            black_r = 0;
            orange_r = 0;
            brown_r = 1;
            yellow_r = 1;
            black_l = 0;
            orange_l = 0;
            brown_l = 1;
            yellow_l = 1;
            
            wait_ms(wait_t);
            case_right = 1;
            break;
        
        case 1:
            //step 1100
            black_r = 0;
            orange_r = 1;
            brown_r = 1;
            yellow_r = 0;
            black_l = 0;
            orange_l = 1;
            brown_l = 1;
            yellow_l = 0;
            
            wait_ms(wait_t);
            case_right = 2;
            break;
        
        
        case 2:
            //step 1010
            black_r = 1;
            orange_r = 1;
            brown_r = 0;
            yellow_r = 0;
            black_l = 1;
            orange_l = 1;
            brown_l = 0;
            yellow_l = 0;
            
            wait_ms(wait_t);
            case_right = 3;
            break;
    
    
        case 3:
            //step 0011
            black_r = 1;
            orange_r = 0;
            brown_r = 0;
            yellow_r = 1;
            black_l = 1;
            orange_l = 0;
            brown_l = 0;
            yellow_l = 1;
            
            wait_ms(wait_t);
            case_right = 0;
            break;
    }
    return 1;
}


int step_right(){ 
    switch(case_left){
        case 0:
            //step 0011
            black_l = 1;
            orange_l = 0;
            brown_l = 0;
            yellow_l = 1;
            black_r = 1;
            orange_r = 0;
            brown_r = 0;
            yellow_r = 1;
            
            wait_ms(wait_t);
            case_left = 1;
            break;
            
        case 1:
            black_l = 1;
            orange_l = 1;
            brown_l = 0;
            yellow_l = 0;
            black_r = 1;
            orange_r = 1;
            brown_r = 0;
            yellow_r = 0;
            
            wait_ms(wait_t);
            case_left = 2;
            break;
        
        case 2:
            black_l = 0;
            orange_l = 1;
            brown_l = 1;
            yellow_l = 0;
            black_r = 0;
            orange_r = 1;
            brown_r = 1;
            yellow_r = 0;
            
            wait_ms(wait_t);
            case_left = 3;
            break;
        
        case 3:
            black_l = 0;
            orange_l = 0;
            brown_l = 1;
            yellow_l = 1;
            black_r = 0;
            orange_r = 0;
            brown_r = 1;
            yellow_r = 1;
            
            wait_ms(wait_t);
            
            case_left = 0;
            break;
    }
    return 1;
}

int step_rone(){
    switch(case_rone){
        case 0:
            //step 0101
            black_r = 0;
            orange_r = 0;
            brown_r = 1;
            yellow_r = 1;
            
            wait_ms(wait_t);
            case_right = 1;
            break;
        
        case 1:
            //step 1100
            black_r = 0;
            orange_r = 1;
            brown_r = 1;
            yellow_r = 0;
            
            wait_ms(wait_t);
            case_right = 2;
            break;
        
        
        case 2:
            //step 1010
            black_r = 1;
            orange_r = 1;
            brown_r = 0;
            yellow_r = 0;
            
            wait_ms(wait_t);
            case_right = 3;
            break;
    
    
        case 3:
            //step 0011
            black_r = 1;
            orange_r = 0;
            brown_r = 0;
            yellow_r = 1;
            
            wait_ms(wait_t);
            case_right = 0;
            break;
    }
    return 1;
}