Hiroshi M / UniStepperMotor

Unipolar Stepper Motor Library

UniStepperMotor.cpp@2:abb7425e1a5b, 2012-07-17 (annotated)

Committer:
bant62
Date:
Tue Jul 17 09:10:48 2012 +0000
Revision:
2:abb7425e1a5b
Parent:
1:ce3991daa407 
add 256 step.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bant62 1:ce3991daa407 1 /**
bant62 1:ce3991daa407 2 *****************************************************************************
bant62 1:ce3991daa407 3 * File Name : UniStepperMotor.cpp
bant62 1:ce3991daa407 4 *
bant62 1:ce3991daa407 5 * Title : Unipolar Stepper Motor Class Source File
bant62 1:ce3991daa407 6 * Revision : 0.1
bant62 1:ce3991daa407 7 * Notes :
bant62 1:ce3991daa407 8 * Target Board : mbed NXP LPC1768
bant62 1:ce3991daa407 9 * Tool Chain : ????
bant62 1:ce3991daa407 10 *
bant62 1:ce3991daa407 11 * Revision History:
bant62 1:ce3991daa407 12 * When Who Description of change
bant62 1:ce3991daa407 13 * ----------- ----------- -----------------------
bant62 1:ce3991daa407 14 * 2012/07/8 Hiroshi M init
bant62 1:ce3991daa407 15 *****************************************************************************
bant62 1:ce3991daa407 16 *
bant62 1:ce3991daa407 17 * Copyright (C) 2012 Hiroshi M, MIT License
bant62 1:ce3991daa407 18 *
bant62 1:ce3991daa407 19 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
bant62 1:ce3991daa407 20 * and associated documentation files (the "Software"), to deal in the Software without restriction,
bant62 1:ce3991daa407 21 * including without limitation the rights to use, copy, modify, merge, publish, distribute,
bant62 1:ce3991daa407 22 * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
bant62 1:ce3991daa407 23 * furnished to do so, subject to the following conditions:
bant62 1:ce3991daa407 24 *
bant62 1:ce3991daa407 25 * The above copyright notice and this permission notice shall be included in all copies or
bant62 1:ce3991daa407 26 * substantial portions of the Software.
bant62 1:ce3991daa407 27 *
bant62 1:ce3991daa407 28 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
bant62 1:ce3991daa407 29 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
bant62 1:ce3991daa407 30 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
bant62 1:ce3991daa407 31 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
bant62 1:ce3991daa407 32 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
bant62 1:ce3991daa407 33 *
bant62 1:ce3991daa407 34 **/
bant62 1:ce3991daa407 35
bant62 1:ce3991daa407 36 /* Includes ----------------------------------------------------------------- */
bant62 1:ce3991daa407 37 #include "UniStepperMotor.h"
bant62 1:ce3991daa407 38 #include "mbed.h"
bant62 1:ce3991daa407 39
bant62 1:ce3991daa407 40 /* Private typedef ---------------------------------------------------------- */
bant62 1:ce3991daa407 41 /* Private define ----------------------------------------------------------- */
bant62 1:ce3991daa407 42 /* Private macro ------------------------------------------------------------ */
bant62 1:ce3991daa407 43 /* Private variables -------------------------------------------------------- */
bant62 1:ce3991daa407 44
bant62 1:ce3991daa407 45 static uint8_t ptn_ClockWise_1x1[] = {0x01, 0x02, 0x04, 0x08};
bant62 1:ce3991daa407 46 static uint8_t ptn_AntiClockWise_1x1[] = {0x08, 0x04, 0x02, 0x01};
bant62 1:ce3991daa407 47
bant62 1:ce3991daa407 48 static uint8_t ptn_ClockWise_2x2[] = {0x03, 0x06, 0x0C, 0x09};
bant62 1:ce3991daa407 49 static uint8_t ptn_AntiClockWise_2x2[] = {0x09, 0x0C, 0x06, 0x03};
bant62 1:ce3991daa407 50
bant62 1:ce3991daa407 51 static uint8_t ptn_ClockWise_1x2[] = {0x03, 0x02, 0x06, 0x04, 0x0C, 0x08, 0x09, 0x01};
bant62 1:ce3991daa407 52 static uint8_t ptn_AntiClockWise_1x2[] = {0x01, 0x09, 0x08, 0x0C, 0x04, 0x06, 0x02, 0x03};
bant62 1:ce3991daa407 53
bant62 2:abb7425e1a5b 54 #if MAXSPEED == 10
bant62 2:abb7425e1a5b 55 static speed_data_t speed_data [] =
bant62 2:abb7425e1a5b 56 {
bant62 1:ce3991daa407 57 { 1, 0,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, // 0
bant62 1:ce3991daa407 58 {500, 4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, // 1 500*2 => 1000
bant62 1:ce3991daa407 59 {250, 4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, // 2 250*2 => 500
bant62 1:ce3991daa407 60 {166, 4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, // 3 166*2 => 332
bant62 1:ce3991daa407 61 {125, 6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, // 4 125*2 => 250
bant62 1:ce3991daa407 62 {100, 6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, // 5 100*2 => 200
bant62 2:abb7425e1a5b 63 {167, 8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, // 6
bant62 1:ce3991daa407 64 {143, 8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, // 7
bant62 1:ce3991daa407 65 {125, 9,ptn_ClockWise_1x1,ptn_AntiClockWise_2x2,4}, // 8
bant62 1:ce3991daa407 66 {111, 10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, // 9
bant62 1:ce3991daa407 67 {100, 10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4} // 10
bant62 1:ce3991daa407 68 };
bant62 1:ce3991daa407 69
bant62 2:abb7425e1a5b 70 #elif MAXSPEED == 63
bant62 2:abb7425e1a5b 71 static speed_data_t speed_data [] =
bant62 2:abb7425e1a5b 72 {
bant62 1:ce3991daa407 73 {1,0,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 1:ce3991daa407 74 {3150,2,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 1:ce3991daa407 75 {1575,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 1:ce3991daa407 76 {1050,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 1:ce3991daa407 77 {788,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 1:ce3991daa407 78 {630,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 1:ce3991daa407 79 {525,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 1:ce3991daa407 80 {450,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 1:ce3991daa407 81 {394,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 1:ce3991daa407 82 {350,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 1:ce3991daa407 83 {315,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 1:ce3991daa407 84 {286,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 1:ce3991daa407 85 {263,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 1:ce3991daa407 86 {242,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 1:ce3991daa407 87 {225,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 1:ce3991daa407 88 {210,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 1:ce3991daa407 89 {197,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 1:ce3991daa407 90 {185,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 1:ce3991daa407 91 {175,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 1:ce3991daa407 92 {166,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 1:ce3991daa407 93 {158,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 1:ce3991daa407 94 {150,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 1:ce3991daa407 95 {143,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 1:ce3991daa407 96 {137,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 1:ce3991daa407 97 {131,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 1:ce3991daa407 98 {126,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 1:ce3991daa407 99 {121,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 1:ce3991daa407 100 {233,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 1:ce3991daa407 101 {225,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 1:ce3991daa407 102 {217,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 1:ce3991daa407 103 {210,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 1:ce3991daa407 104 {203,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 1:ce3991daa407 105 {197,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 1:ce3991daa407 106 {191,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 1:ce3991daa407 107 {185,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 1:ce3991daa407 108 {180,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 1:ce3991daa407 109 {175,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 1:ce3991daa407 110 {170,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 1:ce3991daa407 111 {166,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 1:ce3991daa407 112 {162,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 1:ce3991daa407 113 {158,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 1:ce3991daa407 114 {154,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 1:ce3991daa407 115 {150,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 1:ce3991daa407 116 {147,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 1:ce3991daa407 117 {143,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 1:ce3991daa407 118 {140,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 1:ce3991daa407 119 {137,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 1:ce3991daa407 120 {134,9,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 1:ce3991daa407 121 {131,9,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 1:ce3991daa407 122 {129,9,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 1:ce3991daa407 123 {126,9,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 1:ce3991daa407 124 {124,9,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 1:ce3991daa407 125 {121,9,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 1:ce3991daa407 126 {119,9,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 1:ce3991daa407 127 {117,9,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 1:ce3991daa407 128 {115,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 1:ce3991daa407 129 {113,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 1:ce3991daa407 130 {111,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 1:ce3991daa407 131 {109,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 1:ce3991daa407 132 {107,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 1:ce3991daa407 133 {105,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 1:ce3991daa407 134 {103,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 1:ce3991daa407 135 {102,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 1:ce3991daa407 136 {100,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}
bant62 1:ce3991daa407 137 };
bant62 1:ce3991daa407 138
bant62 2:abb7425e1a5b 139 #else
bant62 2:abb7425e1a5b 140 static speed_data_t speed_data [] =
bant62 2:abb7425e1a5b 141 {
bant62 2:abb7425e1a5b 142 {1,0,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 143 {6400,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 144 {4267,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 145 {3200,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 146 {2560,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 147 {2134,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 148 {1829,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 149 {1600,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 150 {1422,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 151 {1280,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 152 {1164,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 153 {1067,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 154 {985,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 155 {915,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 156 {854,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 157 {800,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 158 {753,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 159 {711,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 160 {674,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 161 {640,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 162 {610,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 163 {582,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 164 {557,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 165 {534,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 166 {512,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 167 {493,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 168 {474,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 169 {457,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 170 {442,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 171 {427,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 172 {413,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 173 {400,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 174 {388,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 175 {377,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 176 {366,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 177 {356,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 178 {346,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 179 {337,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 180 {328,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 181 {320,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 182 {312,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 183 {305,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 184 {298,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 185 {291,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 186 {285,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 187 {279,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 188 {273,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 189 {267,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 190 {261,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 191 {256,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 192 {251,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 193 {246,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 194 {242,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 195 {237,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 196 {233,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 197 {229,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 198 {225,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 199 {221,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 200 {217,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 201 {214,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 202 {210,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 203 {207,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 204 {203,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 205 {200,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 206 {197,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 207 {194,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 208 {191,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 209 {188,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 210 {186,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 211 {183,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 212 {181,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 213 {178,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 214 {176,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 215 {173,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 216 {171,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 217 {169,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 218 {166,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 219 {164,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 220 {162,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 221 {160,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 222 {158,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 223 {156,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 224 {154,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 225 {153,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 226 {151,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
bant62 2:abb7425e1a5b 227 {298,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 228 {294,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 229 {291,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 230 {288,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 231 {284,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 232 {281,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 233 {278,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 234 {275,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 235 {272,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 236 {269,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 237 {267,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 238 {264,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 239 {261,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 240 {259,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 241 {256,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 242 {253,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 243 {251,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 244 {249,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 245 {246,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 246 {244,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 247 {242,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 248 {239,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 249 {237,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 250 {235,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 251 {233,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 252 {231,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 253 {229,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 254 {227,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 255 {225,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 256 {223,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 257 {221,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 258 {219,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 259 {217,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 260 {215,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 261 {213,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 262 {212,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 263 {210,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 264 {208,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 265 {206,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 266 {205,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 267 {203,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 268 {202,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 269 {200,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 270 {198,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 271 {197,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 272 {195,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 273 {194,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 274 {192,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 275 {191,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 276 {190,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 277 {188,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 278 {187,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 279 {186,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 280 {184,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 281 {183,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 282 {182,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 283 {180,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 284 {179,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 285 {178,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 286 {177,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 287 {175,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 288 {174,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 289 {173,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 290 {172,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 291 {171,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 292 {170,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 293 {168,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 294 {167,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 295 {166,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 296 {165,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 297 {164,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 298 {163,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 299 {162,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 300 {161,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 301 {160,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 302 {159,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 303 {158,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 304 {157,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 305 {156,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 306 {155,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 307 {154,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 308 {153,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 309 {152,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 310 {151,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 311 {151,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 312 {150,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
bant62 2:abb7425e1a5b 313 {149,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 314 {148,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 315 {147,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 316 {146,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 317 {145,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 318 {145,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 319 {144,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 320 {143,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 321 {142,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 322 {141,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 323 {141,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 324 {140,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 325 {139,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 326 {138,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 327 {138,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 328 {137,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 329 {136,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 330 {135,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 331 {135,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 332 {134,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 333 {133,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 334 {133,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 335 {132,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 336 {131,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 337 {131,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 338 {130,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 339 {129,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 340 {129,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 341 {128,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 342 {127,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 343 {127,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 344 {126,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 345 {125,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 346 {125,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 347 {124,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 348 {124,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 349 {123,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 350 {122,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 351 {122,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 352 {121,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 353 {121,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 354 {120,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 355 {120,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 356 {119,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 357 {119,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 358 {118,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 359 {117,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 360 {117,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 361 {116,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 362 {116,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 363 {115,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 364 {115,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 365 {114,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 366 {114,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 367 {113,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 368 {113,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 369 {112,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 370 {112,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 371 {111,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 372 {111,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 373 {110,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 374 {110,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 375 {109,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 376 {109,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 377 {108,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 378 {108,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 379 {108,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 380 {107,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 381 {107,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 382 {106,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 383 {106,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 384 {105,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 385 {105,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 386 {104,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 387 {104,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 388 {104,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 389 {103,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 390 {103,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 391 {102,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 392 {102,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 393 {102,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 394 {101,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 395 {101,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 396 {100,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
bant62 2:abb7425e1a5b 397 {100,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}
bant62 2:abb7425e1a5b 398 };
bant62 2:abb7425e1a5b 399 #endif
bant62 1:ce3991daa407 400
bant62 1:ce3991daa407 401 /* member fanctions --------------------------------------------------------- */
bant62 1:ce3991daa407 402
bant62 1:ce3991daa407 403 // Constractor
bant62 1:ce3991daa407 404 StepperMotor::StepperMotor(PinName x_pin_no, PinName y_pin_no, PinName nx_pin_no, PinName ny_pin_no, motor_dir set_direction)
bant62 2:abb7425e1a5b 405 : _x(x_pin_no), _y(y_pin_no), _nx(nx_pin_no), _ny(ny_pin_no)
bant62 2:abb7425e1a5b 406 {
bant62 1:ce3991daa407 407 direction = forward_direction;
bant62 1:ce3991daa407 408 forward_direction = set_direction;
bant62 1:ce3991daa407 409 backward_direction = (forward_direction == CLOCK_WISE) ? ANTI_CLOCK_WISE : CLOCK_WISE;
bant62 1:ce3991daa407 410 }
bant62 1:ce3991daa407 411
bant62 1:ce3991daa407 412 // Destrutctor
bant62 2:abb7425e1a5b 413 StepperMotor::~StepperMotor()
bant62 2:abb7425e1a5b 414 {
bant62 1:ce3991daa407 415 }
bant62 1:ce3991daa407 416
bant62 1:ce3991daa407 417 //
bant62 2:abb7425e1a5b 418 void StepperMotor::PulseEnable(void)
bant62 2:abb7425e1a5b 419 {
bant62 1:ce3991daa407 420 Pulse.attach_us(this,&StepperMotor::SetPulse14us,PULSE_INTERVAL);
bant62 1:ce3991daa407 421 }
bant62 1:ce3991daa407 422
bant62 1:ce3991daa407 423 //
bant62 2:abb7425e1a5b 424 void StepperMotor::PulseDisable(void)
bant62 2:abb7425e1a5b 425 {
bant62 1:ce3991daa407 426 Pulse.detach();
bant62 1:ce3991daa407 427 }
bant62 1:ce3991daa407 428
bant62 2:abb7425e1a5b 429 void StepperMotor::SetSpeed(int speed)
bant62 2:abb7425e1a5b 430 {
bant62 1:ce3991daa407 431 direction = (speed >= 0) ? forward_direction : backward_direction;
bant62 1:ce3991daa407 432
bant62 1:ce3991daa407 433 speed = abs(speed);
bant62 2:abb7425e1a5b 434 if (speed > MAXSPEED) speed = MAXSPEED;
bant62 1:ce3991daa407 435
bant62 1:ce3991daa407 436 pwm_ratio = speed_data[speed].pwm_ratio;
bant62 1:ce3991daa407 437 max_pulse_count = speed_data[speed].max_pulse_count;
bant62 1:ce3991daa407 438
bant62 2:abb7425e1a5b 439 if (direction == CLOCK_WISE)
bant62 2:abb7425e1a5b 440 {
bant62 1:ce3991daa407 441 ptn = speed_data[speed].clockwise_ptn;
bant62 2:abb7425e1a5b 442 }
bant62 2:abb7425e1a5b 443 else
bant62 2:abb7425e1a5b 444 {
bant62 1:ce3991daa407 445 ptn = speed_data[speed].anticlockwise_ptn;
bant62 1:ce3991daa407 446 }
bant62 1:ce3991daa407 447 ptn_count = speed_data[speed].ptn_count;
bant62 2:abb7425e1a5b 448
bant62 1:ce3991daa407 449 pulse_count = 0;
bant62 1:ce3991daa407 450 ptn_index = 0;
bant62 1:ce3991daa407 451
bant62 1:ce3991daa407 452 pwm_on_count = pwm_ratio;
bant62 1:ce3991daa407 453 pwm_off_count = 10 - pwm_ratio;
bant62 1:ce3991daa407 454
bant62 1:ce3991daa407 455 state = PWM_ON;
bant62 1:ce3991daa407 456 }
bant62 1:ce3991daa407 457
bant62 1:ce3991daa407 458
bant62 1:ce3991daa407 459 /* private functions */
bant62 1:ce3991daa407 460
bant62 2:abb7425e1a5b 461 void StepperMotor::SetPulse14us(void)
bant62 2:abb7425e1a5b 462 {
bant62 1:ce3991daa407 463
bant62 2:abb7425e1a5b 464 if (++pulse_count == max_pulse_count)
bant62 2:abb7425e1a5b 465 {
bant62 1:ce3991daa407 466 pulse_count = 0;
bant62 1:ce3991daa407 467
bant62 2:abb7425e1a5b 468 if (++ptn_index == ptn_count)
bant62 2:abb7425e1a5b 469 {
bant62 1:ce3991daa407 470 ptn_index = 0;
bant62 1:ce3991daa407 471 }
bant62 1:ce3991daa407 472 ptn_data = ptn[ptn_index];
bant62 1:ce3991daa407 473 }
bant62 1:ce3991daa407 474
bant62 2:abb7425e1a5b 475 if (pwm_ratio == 10)
bant62 2:abb7425e1a5b 476 {
bant62 1:ce3991daa407 477 PulseOut();
bant62 2:abb7425e1a5b 478 }
bant62 2:abb7425e1a5b 479 else if (pwm_ratio == 0)
bant62 2:abb7425e1a5b 480 {
bant62 1:ce3991daa407 481 PulseStop();
bant62 2:abb7425e1a5b 482 }
bant62 2:abb7425e1a5b 483 else
bant62 2:abb7425e1a5b 484 {
bant62 2:abb7425e1a5b 485 switch (state)
bant62 2:abb7425e1a5b 486 {
bant62 2:abb7425e1a5b 487 case PWM_ON:
bant62 2:abb7425e1a5b 488 if (--pwm_on_count !=0)
bant62 2:abb7425e1a5b 489 {
bant62 2:abb7425e1a5b 490 PulseOut();
bant62 2:abb7425e1a5b 491 }
bant62 2:abb7425e1a5b 492 else
bant62 2:abb7425e1a5b 493 {
bant62 2:abb7425e1a5b 494 pwm_on_count = pwm_ratio;
bant62 2:abb7425e1a5b 495 state = PWM_OFF;
bant62 2:abb7425e1a5b 496 }
bant62 2:abb7425e1a5b 497 break;
bant62 2:abb7425e1a5b 498 case PWM_OFF:
bant62 2:abb7425e1a5b 499 if (--pwm_off_count != 0)
bant62 2:abb7425e1a5b 500 {
bant62 2:abb7425e1a5b 501 PulseStop();
bant62 2:abb7425e1a5b 502 }
bant62 2:abb7425e1a5b 503 else
bant62 2:abb7425e1a5b 504 {
bant62 2:abb7425e1a5b 505 pwm_off_count = 10 - pwm_ratio;
bant62 2:abb7425e1a5b 506 state = PWM_ON;
bant62 2:abb7425e1a5b 507 }
bant62 2:abb7425e1a5b 508 break;
bant62 1:ce3991daa407 509 }
bant62 1:ce3991daa407 510 }
bant62 1:ce3991daa407 511 }
bant62 1:ce3991daa407 512
bant62 2:abb7425e1a5b 513 void StepperMotor::PulseOut(void)
bant62 2:abb7425e1a5b 514 {
bant62 1:ce3991daa407 515 //X
bant62 2:abb7425e1a5b 516 if ((ptn_data & 0x01) == 0x01)
bant62 2:abb7425e1a5b 517 {
bant62 1:ce3991daa407 518 _x = 1;
bant62 2:abb7425e1a5b 519 }
bant62 2:abb7425e1a5b 520 else
bant62 2:abb7425e1a5b 521 {
bant62 1:ce3991daa407 522 _x = 0;
bant62 1:ce3991daa407 523 }
bant62 1:ce3991daa407 524 //Y
bant62 2:abb7425e1a5b 525 if ((ptn_data & 0x02) == 0x02)
bant62 2:abb7425e1a5b 526 {
bant62 1:ce3991daa407 527 _y = 1;
bant62 2:abb7425e1a5b 528 }
bant62 2:abb7425e1a5b 529 else
bant62 2:abb7425e1a5b 530 {
bant62 1:ce3991daa407 531 _y = 0;
bant62 1:ce3991daa407 532 }
bant62 1:ce3991daa407 533 //Negative X
bant62 2:abb7425e1a5b 534 if ((ptn_data & 0x04) == 0x04)
bant62 2:abb7425e1a5b 535 {
bant62 1:ce3991daa407 536 _nx = 1;
bant62 2:abb7425e1a5b 537 }
bant62 2:abb7425e1a5b 538 else
bant62 2:abb7425e1a5b 539 {
bant62 1:ce3991daa407 540 _nx = 0;
bant62 1:ce3991daa407 541 }
bant62 1:ce3991daa407 542 //Negative Y
bant62 2:abb7425e1a5b 543 if ((ptn_data & 0x08) == 0x08)
bant62 2:abb7425e1a5b 544 {
bant62 1:ce3991daa407 545 _ny = 1;
bant62 2:abb7425e1a5b 546 }
bant62 2:abb7425e1a5b 547 else
bant62 2:abb7425e1a5b 548 {
bant62 1:ce3991daa407 549 _ny = 0;
bant62 1:ce3991daa407 550 }
bant62 1:ce3991daa407 551 }
bant62 1:ce3991daa407 552
bant62 2:abb7425e1a5b 553 void StepperMotor::PulseStop(void)
bant62 2:abb7425e1a5b 554 {
bant62 1:ce3991daa407 555 _x = 0;
bant62 1:ce3991daa407 556 _y = 0;
bant62 1:ce3991daa407 557 _nx = 0;
bant62 1:ce3991daa407 558 _ny = 0;
bant62 1:ce3991daa407 559 }