Jason Brewer
A fork of a fine man's work. simplified. No microstepping etc, just a work in progress
Fork of
BipoarStepperMotor
by 
Harsha vardan
Diff: stepperMotor.cpp
- Revision:
- 3:944e51dd1e4c
- Parent:
- 2:f1bab151e654
- Child:
- 4:a3d8d60147dd
--- a/stepperMotor.cpp Mon Sep 23 14:32:02 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,173 +0,0 @@
-/*
-##############################################
-## Program Created by Harshavardan61 ##
-##############################################
- ---- harshavardan61@gmail.com -----
-
-This library was made for 4-Phase Stepper Motors
-I don't take any resposability for the damage caused to your equipment.
-
-*/
-
-#include "sMotor.h"
-
-#include "mbed.h"
-
-int motorSpeed; // Steper speed
-
-sMotor::sMotor(PinName A0, PinName A1, PinName A2, PinName A3) : _A0(A0), _A1(A1), _A2(A2), _A3(A3) { // Defenition of motor pins
- _A0=0;
- _A1=0;
- _A2=0;
- _A3=0;
-}
-
-
-void sMotor::anticlockwise() { // rotate the motor 1 step anticlockwise
- for (int i = 0; i < 8; i++) {
-
- switch (i) { // activate the ports A0, A2, A3, A3 in a binary sequence for steps
- case 0: {
- _A0=0;
- _A1=0;
- _A2=0;
- _A3=1;
- }
- break;
- case 1: {
- _A0=0;
- _A1=0;
- _A2=1;
- _A3=1;
- }
- break;
- case 2: {
- _A0=0;
- _A1=0;
- _A2=1;
- _A3=0;
- }
- break;
- case 3: {
- _A0=0;
- _A1=1;
- _A2=1;
- _A3=0;
- }
- break;
- case 4: {
- _A0=0;
- _A1=1;
- _A2=0;
- _A3=0;
- }
- break;
- case 5: {
- _A0=1;
- _A1=1;
- _A2=0;
- _A3=0;
- }
- break;
- case 6: {
- _A0=1;
- _A1=0;
- _A2=0;
- _A3=0;
- }
- break;
- case 7: {
- _A0=1;
- _A1=0;
- _A2=0;
- _A3=1;
- }
- break;
- }
-
-
- wait_us(motorSpeed); // wait time defines the speed
- }
-}
-
-void sMotor::clockwise() { // rotate the motor 1 step clockwise
- for (int i = 7; i >= 0; i--) {
-
- switch (i) {
- case 0: {
- _A0=0;
- _A1=0;
- _A2=0;
- _A3=1;
- }
- break;
- case 1: {
- _A0=0;
- _A1=0;
- _A2=1;
- _A3=1;
- }
- break;
- case 2: {
- _A0=0;
- _A1=0;
- _A2=1;
- _A3=0;
- }
- break;
- case 3: {
- _A0=0;
- _A1=1;
- _A2=1;
- _A3=0;
- }
- break;
- case 4: {
- _A0=0;
- _A1=1;
- _A2=0;
- _A3=0;
- }
- break;
- case 5: {
- _A0=1;
- _A1=1;
- _A2=0;
- _A3=0;
- }
- break;
- case 6: {
- _A0=1;
- _A1=0;
- _A2=0;
- _A3=0;
- }
- break;
- case 7: {
- _A0=1;
- _A1=0;
- _A2=0;
- _A3=1;
- }
- break;
- }
-
-
- wait_us(motorSpeed); // wait time defines the speed
- }
-}
-void sMotor::step(int num_steps, int direction, int speed) {// steper function: number of steps, direction (0- right, 1- left), speed (default 1200)
- int count=0; // initalize step count
- motorSpeed=speed; //set motor speed
- if (direction==0) // turn clockwise
- do {
- clockwise();
- count++;
- } while (count<num_steps); // turn number of steps applied
- else if (direction==1)// turn anticlockwise
- do {
- anticlockwise();
- count++;
- } while (count<num_steps);// turn number of steps applied
-
-}
\ No newline at end of file