File content as of revision 0:dd286de4bc2f:

#include "stepperMotor.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::off()
{
    _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=1;
                _A3=0;
            }
            break;
            case 1: {
           _A0=0;
         _A1=0;
         _A2=0;
       _A3=0;
            }
           break;
            case 2: {
              _A0=0;
             _A1=0;
             _A2=0;
            _A3=1;
            }
     break;
         case 3: {
               _A0=0;
                _A1=1;
                _A2=0;
               _A3=1;
           }
            break;
            case 4: {
                _A0=0;
                _A1=1;
                _A2=1;
               _A3=1;
            }
            break;
        case 5: {
                _A0=1;
                _A1=1;
             _A2=1;
                _A3=1;
            }
            break;
            case 6: {
                _A0=1;
                _A1=0;
                _A2=1;
                _A3=1;
            }
            break;
            case 7: {
                _A0=1;
                _A1=0;
                _A2=1;
               _A3=0;
            }
            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
    { 
        count=0;
        do {
            anticlockwise();
            count++;
        } while (count<num_steps);// turn number of steps applied 
   }
}