Revision 1:ce3991daa407, committed 2012-07-16

Comitter:

bant62

Date:

Mon Jul 16 04:32:42 2012 +0000

Parent:

0:060fe2d0a177

Child:

2:abb7425e1a5b

Commit message:

init revision

Changed in this revision

--- a/StepperMotor.cpp	Mon Jul 16 03:47:52 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,259 +0,0 @@
-/**
- *****************************************************************************
- * File Name    : StepperMotor.cpp
- *
- * Title        : StepperMotor Class Source File
- * Revision     : 0.1
- * Notes        :
- * Target Board : mbed NXP LPC1768
- * Tool Chain   : ????
- *
- * Revision History:
- * When         Who         Description of change
- * -----------  ----------- -----------------------
- * 2012/07/8    Hiroshi M   init
- *****************************************************************************
- *
- * Copyright (C) 2012 Hiroshi M, MIT License
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
- * and associated documentation files (the "Software"), to deal in the Software without restriction,
- * including without limitation the rights to use, copy, modify, merge, publish, distribute,
- * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all copies or
- * substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
- * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
- * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- **/
-
-/* Includes ----------------------------------------------------------------- */
-#include "StepperMotor.h"
-#include "mbed.h"
-
-/* Private typedef ---------------------------------------------------------- */
-/* Private define ----------------------------------------------------------- */
-/* Private macro ------------------------------------------------------------ */
-/* Private variables -------------------------------------------------------- */
-
-static uint8_t ptn_ClockWise_1x1[]     = {0x01, 0x02, 0x04, 0x08};
-static uint8_t ptn_AntiClockWise_1x1[] = {0x08, 0x04, 0x02, 0x01};
-
-static uint8_t ptn_ClockWise_2x2[]     = {0x03, 0x06, 0x0C, 0x09};
-static uint8_t ptn_AntiClockWise_2x2[] = {0x09, 0x0C, 0x06, 0x03};
-
-static uint8_t ptn_ClockWise_1x2[]     = {0x03, 0x02, 0x06, 0x04, 0x0C, 0x08, 0x09, 0x01};
-static uint8_t ptn_AntiClockWise_1x2[] = {0x01, 0x09, 0x08, 0x0C, 0x04, 0x06, 0x02, 0x03};
-
-#if 0
-static speed_data_t speed_data [] = {
-    {  1,  0,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},   // 0
-    {500,  4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},   // 1 500*2 => 1000
-    {250,  4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},   // 2 250*2 => 500
-    {166,  4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},   // 3 166*2 => 332
-    {125,  6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},   // 4 125*2 => 250
-    {100,  6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},   // 5 100*2 => 200
-    {167,  8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},   // 6 
-    {143,  8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},   // 7
-    {125,  9,ptn_ClockWise_1x1,ptn_AntiClockWise_2x2,4},   // 8
-    {111, 10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},   // 9
-    {100, 10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}    // 10
-};
-#endif
-
-static speed_data_t speed_data [] = {
-    {1,0,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
-    {3150,2,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
-    {1575,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
-    {1050,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
-    {788,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
-    {630,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
-    {525,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
-    {450,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
-    {394,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
-    {350,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
-    {315,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
-    {286,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
-    {263,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
-    {242,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
-    {225,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
-    {210,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
-    {197,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
-    {185,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
-    {175,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
-    {166,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
-    {158,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
-    {150,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
-    {143,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
-    {137,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
-    {131,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
-    {126,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
-    {121,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
-    {233,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
-    {225,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
-    {217,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
-    {210,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
-    {203,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
-    {197,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
-    {191,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
-    {185,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
-    {180,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
-    {175,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
-    {170,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
-    {166,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
-    {162,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
-    {158,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
-    {154,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
-    {150,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
-    {147,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
-    {143,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
-    {140,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
-    {137,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
-    {134,9,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
-    {131,9,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
-    {129,9,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
-    {126,9,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
-    {124,9,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
-    {121,9,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
-    {119,9,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
-    {117,9,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
-    {115,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
-    {113,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
-    {111,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
-    {109,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
-    {107,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
-    {105,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
-    {103,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
-    {102,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
-    {100,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}
-};
-
-
-/* member fanctions --------------------------------------------------------- */
-
-// Constractor
-StepperMotor::StepperMotor(PinName x_pin_no, PinName y_pin_no, PinName nx_pin_no, PinName ny_pin_no, motor_dir set_direction)
-        : _x(x_pin_no), _y(y_pin_no), _nx(nx_pin_no), _ny(ny_pin_no) {
-    direction = forward_direction;
-    forward_direction = set_direction;
-    backward_direction = (forward_direction == CLOCK_WISE) ? ANTI_CLOCK_WISE : CLOCK_WISE;
-}
-
-//  Destrutctor
-StepperMotor::~StepperMotor() {
-}
-
-//
-void StepperMotor::PulseEnable(void) {
-    Pulse.attach_us(this,&StepperMotor::SetPulse14us,PULSE_INTERVAL);
-}
-
-//
-void StepperMotor::PulseDisable(void) {
-    Pulse.detach();
-}
-
-void StepperMotor::SetSpeed(int speed) {
-    direction = (speed >= 0) ? forward_direction : backward_direction;
-
-    speed = abs(speed);
-    if (speed > 63) speed = 63;
-
-    pwm_ratio = speed_data[speed].pwm_ratio;
-    max_pulse_count = speed_data[speed].max_pulse_count;
-
-    if (direction == CLOCK_WISE) {
-        ptn = speed_data[speed].clockwise_ptn;
-    } else {
-        ptn = speed_data[speed].anticlockwise_ptn;
-    }
-    ptn_count = speed_data[speed].ptn_count;
- 
-    pulse_count = 0;
-    ptn_index = 0;
-
-    pwm_on_count = pwm_ratio;
-    pwm_off_count = 10 - pwm_ratio;
-
-    state = PWM_ON;
-}
-
-
-/* private functions */
-
-void StepperMotor::SetPulse14us(void) {
-
-    if (++pulse_count == max_pulse_count) {
-        pulse_count = 0;
-
-        if (++ptn_index == ptn_count) {
-            ptn_index = 0;
-        }
-        ptn_data = ptn[ptn_index];
-    }
-
-    if (pwm_ratio == 10) {
-        PulseOut();
-    } else if (pwm_ratio == 0) {
-        PulseStop();
-    } else {
-        switch (state) {
-            case PWM_ON:
-                if (--pwm_on_count !=0) {
-                    PulseOut();
-                } else {
-                    pwm_on_count = pwm_ratio;
-                    state = PWM_OFF;
-                }
-                break;
-            case PWM_OFF:
-                if (--pwm_off_count != 0) {
-                    PulseStop();
-                } else {
-                    pwm_off_count = 10 - pwm_ratio;
-                    state = PWM_ON;
-                }
-                break;
-        }
-    }
-}
-
-void StepperMotor::PulseOut(void) {
-    //X
-    if ((ptn_data & 0x01) == 0x01) {
-        _x = 1;
-    } else {
-        _x = 0;
-    }
-    //Y
-    if ((ptn_data & 0x02) == 0x02) {
-        _y = 1;
-    } else {
-        _y = 0;
-    }
-    //Negative X
-    if ((ptn_data & 0x04) == 0x04) {
-        _nx = 1;
-    } else {
-        _nx = 0;
-    }
-    //Negative Y
-    if ((ptn_data & 0x08) == 0x08) {
-        _ny = 1;
-    } else {
-        _ny = 0;
-    }
-}
-
-void StepperMotor::PulseStop(void) {
-    _x = 0;
-    _y = 0;
-    _nx = 0;
-    _ny = 0;
-}

--- a/StepperMotor.h	Mon Jul 16 03:47:52 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,98 +0,0 @@
-/**
- *****************************************************************************
- * File Name    : StepperMotor.h
- *
- * Title        : StepperMotor Class Header File
- * Revision     : 0.1
- * Notes        :
- * Target Board : mbed NXP LPC1768
- * Tool Chain   : ????
- *
- * Revision History:
- * When         Who         Description of change
- * -----------  ----------- -----------------------
- * 2012/07/8    Hiroshi M   init
- *****************************************************************************
- *
- * Copyright (C) 2012 Hiroshi M, MIT License
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
- * and associated documentation files (the "Software"), to deal in the Software without restriction,
- * including without limitation the rights to use, copy, modify, merge, publish, distribute,
- * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all copies or
- * substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
- * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
- * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- **/
-
-#ifndef MBED_STEPPER_MOTOR_H
-#define MBED_STEPPER_MOTOR_H
- 
-/* Includes ----------------------------------------------------------------- */
-#include "mbed.h"
-                                                                                                                                    
-/* typedef ------------------------------------------------------------------ */
-typedef enum {PWM_ON, PWM_OFF} pwm_state;
-typedef enum {CLOCK_WISE, ANTI_CLOCK_WISE} motor_dir;
-
-struct speed_data_t {
-    int max_pulse_count;
-    int pwm_ratio;
-    uint8_t *clockwise_ptn;
-    uint8_t *anticlockwise_ptn;
-    int ptn_count;
-};
-
-/* define ------------------------------------------------------------------- */
-#define PULSE_INTERVAL        14        // 14us
-
-/* macro -------------------------------------------------------------------- */
-/* variables ---------------------------------------------------------------- */
-/* class -------------------------------------------------------------------- */
-
-class StepperMotor {
-public:
-    StepperMotor(PinName x_pin_no, PinName y_pin_no, PinName nx_pin_no, PinName ny_pin_no, motor_dir set_direction);
-    ~StepperMotor();
-
-    void SetSpeed(int speed);
-    void PulseEnable(void);
-    void PulseDisable(void);
-
-private:
-    pwm_state   state;
-    motor_dir   direction;
-    motor_dir   forward_direction;
-    motor_dir   backward_direction;
-
-    int         ptn_index;
-    int         ptn_count;
-    int         pwm_ratio;
-    int         pwm_on_count;
-    int         pwm_off_count;
-    int         max_pulse_count;
-    int         pulse_count;
-    uint8_t     *ptn;
-    uint8_t     ptn_data;
-
-    DigitalOut _x;
-    DigitalOut _y;
-    DigitalOut _nx;
-    DigitalOut _ny;
-
-    Ticker Pulse;
-
-    void SetPulse14us(void);
-    void PulseOut(void);
-    void PulseStop(void);
-};
-
-#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/UniStepperMotor.cpp	Mon Jul 16 04:32:42 2012 +0000
@@ -0,0 +1,259 @@
+/**
+ *****************************************************************************
+ * File Name    : UniStepperMotor.cpp
+ *
+ * Title        : Unipolar Stepper Motor Class Source File
+ * Revision     : 0.1
+ * Notes        :
+ * Target Board : mbed NXP LPC1768
+ * Tool Chain   : ????
+ *
+ * Revision History:
+ * When         Who         Description of change
+ * -----------  ----------- -----------------------
+ * 2012/07/8    Hiroshi M   init
+ *****************************************************************************
+ *
+ * Copyright (C) 2012 Hiroshi M, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ **/
+
+/* Includes ----------------------------------------------------------------- */
+#include "UniStepperMotor.h"
+#include "mbed.h"
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+
+static uint8_t ptn_ClockWise_1x1[]     = {0x01, 0x02, 0x04, 0x08};
+static uint8_t ptn_AntiClockWise_1x1[] = {0x08, 0x04, 0x02, 0x01};
+
+static uint8_t ptn_ClockWise_2x2[]     = {0x03, 0x06, 0x0C, 0x09};
+static uint8_t ptn_AntiClockWise_2x2[] = {0x09, 0x0C, 0x06, 0x03};
+
+static uint8_t ptn_ClockWise_1x2[]     = {0x03, 0x02, 0x06, 0x04, 0x0C, 0x08, 0x09, 0x01};
+static uint8_t ptn_AntiClockWise_1x2[] = {0x01, 0x09, 0x08, 0x0C, 0x04, 0x06, 0x02, 0x03};
+
+#if 0
+static speed_data_t speed_data [] = {
+    {  1,  0,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},   // 0
+    {500,  4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},   // 1 500*2 => 1000
+    {250,  4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},   // 2 250*2 => 500
+    {166,  4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},   // 3 166*2 => 332
+    {125,  6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},   // 4 125*2 => 250
+    {100,  6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},   // 5 100*2 => 200
+    {167,  8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},   // 6 
+    {143,  8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},   // 7
+    {125,  9,ptn_ClockWise_1x1,ptn_AntiClockWise_2x2,4},   // 8
+    {111, 10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},   // 9
+    {100, 10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}    // 10
+};
+#endif
+
+static speed_data_t speed_data [] = {
+    {1,0,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+    {3150,2,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+    {1575,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+    {1050,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+    {788,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+    {630,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+    {525,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+    {450,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+    {394,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+    {350,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+    {315,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+    {286,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+    {263,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+    {242,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+    {225,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+    {210,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+    {197,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+    {185,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+    {175,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+    {166,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+    {158,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+    {150,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+    {143,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+    {137,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+    {131,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+    {126,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+    {121,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+    {233,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+    {225,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+    {217,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+    {210,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+    {203,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+    {197,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+    {191,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+    {185,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+    {180,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+    {175,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+    {170,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+    {166,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+    {162,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+    {158,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+    {154,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+    {150,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+    {147,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+    {143,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+    {140,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+    {137,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+    {134,9,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+    {131,9,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+    {129,9,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+    {126,9,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+    {124,9,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+    {121,9,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+    {119,9,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+    {117,9,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+    {115,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+    {113,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+    {111,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+    {109,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+    {107,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+    {105,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+    {103,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+    {102,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+    {100,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}
+};
+
+
+/* member fanctions --------------------------------------------------------- */
+
+// Constractor
+StepperMotor::StepperMotor(PinName x_pin_no, PinName y_pin_no, PinName nx_pin_no, PinName ny_pin_no, motor_dir set_direction)
+        : _x(x_pin_no), _y(y_pin_no), _nx(nx_pin_no), _ny(ny_pin_no) {
+    direction = forward_direction;
+    forward_direction = set_direction;
+    backward_direction = (forward_direction == CLOCK_WISE) ? ANTI_CLOCK_WISE : CLOCK_WISE;
+}
+
+//  Destrutctor
+StepperMotor::~StepperMotor() {
+}
+
+//
+void StepperMotor::PulseEnable(void) {
+    Pulse.attach_us(this,&StepperMotor::SetPulse14us,PULSE_INTERVAL);
+}
+
+//
+void StepperMotor::PulseDisable(void) {
+    Pulse.detach();
+}
+
+void StepperMotor::SetSpeed(int speed) {
+    direction = (speed >= 0) ? forward_direction : backward_direction;
+
+    speed = abs(speed);
+    if (speed > 63) speed = 63;
+
+    pwm_ratio = speed_data[speed].pwm_ratio;
+    max_pulse_count = speed_data[speed].max_pulse_count;
+
+    if (direction == CLOCK_WISE) {
+        ptn = speed_data[speed].clockwise_ptn;
+    } else {
+        ptn = speed_data[speed].anticlockwise_ptn;
+    }
+    ptn_count = speed_data[speed].ptn_count;
+ 
+    pulse_count = 0;
+    ptn_index = 0;
+
+    pwm_on_count = pwm_ratio;
+    pwm_off_count = 10 - pwm_ratio;
+
+    state = PWM_ON;
+}
+
+
+/* private functions */
+
+void StepperMotor::SetPulse14us(void) {
+
+    if (++pulse_count == max_pulse_count) {
+        pulse_count = 0;
+
+        if (++ptn_index == ptn_count) {
+            ptn_index = 0;
+        }
+        ptn_data = ptn[ptn_index];
+    }
+
+    if (pwm_ratio == 10) {
+        PulseOut();
+    } else if (pwm_ratio == 0) {
+        PulseStop();
+    } else {
+        switch (state) {
+            case PWM_ON:
+                if (--pwm_on_count !=0) {
+                    PulseOut();
+                } else {
+                    pwm_on_count = pwm_ratio;
+                    state = PWM_OFF;
+                }
+                break;
+            case PWM_OFF:
+                if (--pwm_off_count != 0) {
+                    PulseStop();
+                } else {
+                    pwm_off_count = 10 - pwm_ratio;
+                    state = PWM_ON;
+                }
+                break;
+        }
+    }
+}
+
+void StepperMotor::PulseOut(void) {
+    //X
+    if ((ptn_data & 0x01) == 0x01) {
+        _x = 1;
+    } else {
+        _x = 0;
+    }
+    //Y
+    if ((ptn_data & 0x02) == 0x02) {
+        _y = 1;
+    } else {
+        _y = 0;
+    }
+    //Negative X
+    if ((ptn_data & 0x04) == 0x04) {
+        _nx = 1;
+    } else {
+        _nx = 0;
+    }
+    //Negative Y
+    if ((ptn_data & 0x08) == 0x08) {
+        _ny = 1;
+    } else {
+        _ny = 0;
+    }
+}
+
+void StepperMotor::PulseStop(void) {
+    _x = 0;
+    _y = 0;
+    _nx = 0;
+    _ny = 0;
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/UniStepperMotor.h	Mon Jul 16 04:32:42 2012 +0000
@@ -0,0 +1,98 @@
+/**
+ *****************************************************************************
+ * File Name    : UniStepperMotor.h
+ *
+ * Title        : Unipolar Stepper Motor Class Header File
+ * Revision     : 0.1
+ * Notes        :
+ * Target Board : mbed NXP LPC1768
+ * Tool Chain   : ????
+ *
+ * Revision History:
+ * When         Who         Description of change
+ * -----------  ----------- -----------------------
+ * 2012/07/8    Hiroshi M   init
+ *****************************************************************************
+ *
+ * Copyright (C) 2012 Hiroshi M, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ **/
+
+#ifndef MBED_STEPPER_MOTOR_H
+#define MBED_STEPPER_MOTOR_H
+ 
+/* Includes ----------------------------------------------------------------- */
+#include "mbed.h"
+                                                                                                                                    
+/* typedef ------------------------------------------------------------------ */
+typedef enum {PWM_ON, PWM_OFF} pwm_state;
+typedef enum {CLOCK_WISE, ANTI_CLOCK_WISE} motor_dir;
+
+struct speed_data_t {
+    int max_pulse_count;
+    int pwm_ratio;
+    uint8_t *clockwise_ptn;
+    uint8_t *anticlockwise_ptn;
+    int ptn_count;
+};
+
+/* define ------------------------------------------------------------------- */
+#define PULSE_INTERVAL        14        // 14us
+
+/* macro -------------------------------------------------------------------- */
+/* variables ---------------------------------------------------------------- */
+/* class -------------------------------------------------------------------- */
+
+class StepperMotor {
+public:
+    StepperMotor(PinName x_pin_no, PinName y_pin_no, PinName nx_pin_no, PinName ny_pin_no, motor_dir set_direction);
+    ~StepperMotor();
+
+    void SetSpeed(int speed);
+    void PulseEnable(void);
+    void PulseDisable(void);
+
+private:
+    pwm_state   state;
+    motor_dir   direction;
+    motor_dir   forward_direction;
+    motor_dir   backward_direction;
+
+    int         ptn_index;
+    int         ptn_count;
+    int         pwm_ratio;
+    int         pwm_on_count;
+    int         pwm_off_count;
+    int         max_pulse_count;
+    int         pulse_count;
+    uint8_t     *ptn;
+    uint8_t     ptn_data;
+
+    DigitalOut _x;
+    DigitalOut _y;
+    DigitalOut _nx;
+    DigitalOut _ny;
+
+    Ticker Pulse;
+
+    void SetPulse14us(void);
+    void PulseOut(void);
+    void PulseStop(void);
+};
+
+#endif
\ No newline at end of file