File content as of revision 0:8a14924886c4:

#include "ULN2003.h"

ULN2003::ULN2003(PinName pinOut1, PinName pinOut2, PinName pinOut3, PinName pinOut4, int full_turn_steps): 
        _out1(pinOut1), _out2(pinOut2), _out3(pinOut3), _out4(pinOut4) {
    _pos = 0;
    _full_turn_steps = full_turn_steps;
    relax();
}

void ULN2003::_set_output() {
    switch (_pos) {
        case 0: {
            _out1=1;
            _out2=0;
            _out3=0;
            _out4=0;
            break;
        }
        case 1: {
            _out1=1;
            _out2=1;
            _out3=0;
            _out4=0;
            break;
        }
        case 2: {
            _out1=0;
            _out2=1;
            _out3=0;
            _out4=0;
            break;
        }
        case 3: {
            _out1=0;
            _out2=1;
            _out3=1;
            _out4=0;
            break;
        }
        case 4: {
            _out1=0;
            _out2=0;
            _out3=1;
            _out4=0;
            break;
        }
        case 5: {
            _out1=0;
            _out2=0;
            _out3=1;
            _out4=1;
            break;
        }
        case 6: {
            _out1=0;
            _out2=0;
            _out3=0;
            _out4=1;
            break;
        }
        case 7: {
            _out1=1;
            _out2=0;
            _out3=0;
            _out4=1;
            break;
        }
    }
}

void ULN2003::stepForward() {
    _pos++;
    if (_pos > 7) _pos = 0;
    _set_output();
}

void ULN2003::stepReverse() {
    _pos--;
    if (_pos < 0) _pos = 7;
    _set_output();
}

void ULN2003::moveForward(int steps, float speed) {
    int delay_us_value = (1.0/speed)*1000000; // speed is in Hz = steps/sec
    
    for (int i=0; i<steps; i++) {
        stepForward();
        wait_us(delay_us_value);
    }
    relax();
}

void ULN2003::moveReverse(int steps, float speed) {
    int delay_us_value = (1.0/speed)*1000000; // speed is in Hz = steps/sec
    
    for (int i=0; i<steps; i++) {
        stepForward();
        wait_us(delay_us_value);
    }
    relax();
}

void ULN2003::turnForward(float turns, float speed) {
    moveForward(_full_turn_steps*turns, _full_turn_steps*speed);
}

void ULN2003::turnReverse(float turns, float speed) {
    moveForward(_full_turn_steps*turns, _full_turn_steps*speed);
}


void ULN2003::relax() {
    _out1 = 0;
    _out2 = 0;
    _out3 = 0;
    _out4 = 0;
}