Hiroshi M
Unipolar Stepper Motor Library
Revision 2:abb7425e1a5b, committed 2012-07-17
- Comitter:
- bant62
- Date:
- Tue Jul 17 09:10:48 2012 +0000
- Parent:
- 1:ce3991daa407
- Commit message:
- add 256 step.
Changed in this revision
| UniStepperMotor.cpp | Show annotated file Show diff for this revision Revisions of this file |
| UniStepperMotor.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/UniStepperMotor.cpp Mon Jul 16 04:32:42 2012 +0000
+++ b/UniStepperMotor.cpp Tue Jul 17 09:10:48 2012 +0000
@@ -51,23 +51,25 @@
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 [] = {
+#if MAXSPEED == 10
+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
+ {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 [] = {
+#elif MAXSPEED == 63
+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},
@@ -134,47 +136,316 @@
{100,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}
};
+#else
+static speed_data_t speed_data [] =
+{
+ {1,0,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {6400,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {4267,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {3200,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {2560,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {2134,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {1829,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {1600,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {1422,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {1280,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {1164,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {1067,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {985,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {915,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {854,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {800,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {753,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {711,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {674,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {640,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {610,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {582,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {557,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {534,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {512,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {493,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {474,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {457,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {442,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {427,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {413,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {400,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {388,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {377,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {366,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {356,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {346,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {337,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {328,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {320,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {312,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {305,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {298,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {291,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {285,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {279,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {273,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {267,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {261,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {256,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {251,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {246,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {242,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {237,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {233,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {229,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {225,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {221,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {217,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {214,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {210,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {207,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {203,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {200,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {197,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {194,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {191,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {188,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {186,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {183,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {181,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {178,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {176,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {173,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {171,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {169,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {166,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {164,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {162,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {160,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {158,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {156,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {154,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {153,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {151,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},
+ {298,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {294,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {291,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {288,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {284,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {281,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {278,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {275,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {272,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {269,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {267,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {264,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {261,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {259,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {256,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {253,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {251,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {249,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {246,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {244,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {242,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {239,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {237,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {235,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {233,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {231,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {229,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {227,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {225,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {223,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {221,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {219,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {217,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {215,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {213,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {212,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {210,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {208,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {206,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {205,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {203,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {202,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {200,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {198,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {197,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {195,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {194,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {192,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {191,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {190,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {188,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {187,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {186,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {184,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {183,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {182,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {180,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {179,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {178,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {177,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {175,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {174,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {173,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {172,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {171,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {170,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {168,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {167,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {166,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {165,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {164,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {163,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {162,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {161,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {160,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {159,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {158,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {157,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {156,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {155,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {154,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {153,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {152,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {151,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {151,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {150,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},
+ {149,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {148,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {147,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {146,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {145,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {145,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {144,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {143,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {142,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {141,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {141,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {140,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {139,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {138,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {138,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {137,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {136,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {135,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {135,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {134,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {133,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {133,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {132,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {131,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {131,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {130,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {129,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {129,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {128,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {127,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {127,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {126,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {125,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {125,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {124,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {124,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {123,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {122,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {122,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {121,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {121,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {120,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {120,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {119,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {119,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {118,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {117,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {117,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {116,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {116,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {115,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {115,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {114,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {114,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {113,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {113,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {112,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {112,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {111,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {111,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {110,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {110,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {109,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {109,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {108,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {108,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {108,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {107,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {107,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {106,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {106,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {105,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {105,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {104,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {104,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {104,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {103,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {103,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {102,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {102,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {102,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {101,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {101,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {100,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},
+ {100,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}
+};
+#endif
/* 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) {
+ : _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() {
+StepperMotor::~StepperMotor()
+{
}
//
-void StepperMotor::PulseEnable(void) {
+void StepperMotor::PulseEnable(void)
+{
Pulse.attach_us(this,&StepperMotor::SetPulse14us,PULSE_INTERVAL);
}
//
-void StepperMotor::PulseDisable(void) {
+void StepperMotor::PulseDisable(void)
+{
Pulse.detach();
}
-void StepperMotor::SetSpeed(int speed) {
+void StepperMotor::SetSpeed(int speed)
+{
direction = (speed >= 0) ? forward_direction : backward_direction;
speed = abs(speed);
- if (speed > 63) speed = 63;
+ if (speed > MAXSPEED) speed = MAXSPEED;
pwm_ratio = speed_data[speed].pwm_ratio;
max_pulse_count = speed_data[speed].max_pulse_count;
- if (direction == CLOCK_WISE) {
+ if (direction == CLOCK_WISE)
+ {
ptn = speed_data[speed].clockwise_ptn;
- } else {
+ }
+ else
+ {
ptn = speed_data[speed].anticlockwise_ptn;
}
ptn_count = speed_data[speed].ptn_count;
-
+
pulse_count = 0;
ptn_index = 0;
@@ -187,71 +458,100 @@
/* private functions */
-void StepperMotor::SetPulse14us(void) {
+void StepperMotor::SetPulse14us(void)
+{
- if (++pulse_count == max_pulse_count) {
+ if (++pulse_count == max_pulse_count)
+ {
pulse_count = 0;
- if (++ptn_index == ptn_count) {
+ if (++ptn_index == ptn_count)
+ {
ptn_index = 0;
}
ptn_data = ptn[ptn_index];
}
- if (pwm_ratio == 10) {
+ if (pwm_ratio == 10)
+ {
PulseOut();
- } else if (pwm_ratio == 0) {
+ }
+ 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;
+ }
+ 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) {
+void StepperMotor::PulseOut(void)
+{
//X
- if ((ptn_data & 0x01) == 0x01) {
+ if ((ptn_data & 0x01) == 0x01)
+ {
_x = 1;
- } else {
+ }
+ else
+ {
_x = 0;
}
//Y
- if ((ptn_data & 0x02) == 0x02) {
+ if ((ptn_data & 0x02) == 0x02)
+ {
_y = 1;
- } else {
+ }
+ else
+ {
_y = 0;
}
//Negative X
- if ((ptn_data & 0x04) == 0x04) {
+ if ((ptn_data & 0x04) == 0x04)
+ {
_nx = 1;
- } else {
+ }
+ else
+ {
_nx = 0;
}
//Negative Y
- if ((ptn_data & 0x08) == 0x08) {
+ if ((ptn_data & 0x08) == 0x08)
+ {
_ny = 1;
- } else {
+ }
+ else
+ {
_ny = 0;
}
}
-void StepperMotor::PulseStop(void) {
+void StepperMotor::PulseStop(void)
+{
_x = 0;
_y = 0;
_nx = 0;
--- a/UniStepperMotor.h Mon Jul 16 04:32:42 2012 +0000 +++ b/UniStepperMotor.h Tue Jul 17 09:10:48 2012 +0000 @@ -52,7 +52,8 @@ }; /* define ------------------------------------------------------------------- */ -#define PULSE_INTERVAL 14 // 14us +#define PULSE_INTERVAL 14 // 14us +#define MAXSPEED 255 /* macro -------------------------------------------------------------------- */ /* variables ---------------------------------------------------------------- */