David Lowe / stepper

Modified phase table in stepper.cpp to enable stepping a bipolar motor using a twin H-bridge driver.

Fork of stepper by Kenji Arai

Corrected single-stepping, now walking up or down just one phase table. Compile-time options for driving bipolar motor in any of single-phase, two-phase, or half-stepping. Coils remain engaged at end of specifed movement command - de-energize coils by issuing a motor.move(0) while already stopped.

Diff: stepper.h

Revision:
1:94f55ebfe2db
Parent:
0:7b0c724fa658
Child:
4:5b596b405573
--- a/stepper.h	Sat Aug 23 06:34:07 2014 +0000
+++ b/stepper.h	Sat Aug 23 06:45:41 2014 +0000
@@ -24,7 +24,7 @@
 #define MT_MIN_STEP             (MT_SLOP_STEP+MT_SLOP_STEP)
 #define MT_PLS_WIDTH_MIN        2      // 2mS
 
-/** Bipolar Type Stepping Motor Driver using 4 Outputs(DigitalOut) with timer interrupt(Ticker)
+/** Unipolar Type Stepping Motor Driver using 4 Outputs(DigitalOut) with timer interrupt(Ticker)
  *
  * Driver circuit: Low side driver (4ch for one Stepper) e.g. TD62003AP
  *  CAUTION: This is only for Unipolar Type Stepping Motor!
@@ -55,7 +55,7 @@
 
 class STEPPER {
 public:
-    // Please copy following part in to your main.cpp
+    // Please copy following pls_width[] part in to your main.cpp
     /** pulse width definition -> Use for start and stop phase
       *  = data * TIMEBASE -> e.g following data = 5 then 5*15000/1000 = 75mS
       */