stepper - Modified phase table in stepper.cpp to enable ste…

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

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.

History

Updates and fixes. default tip

2014-12-31, by gregeric [Wed, 31 Dec 2014 17:36:36 +0000] rev 8

Updates and fixes.

Tidy up

2014-12-23, by gregeric [Tue, 23 Dec 2014 10:36:58 +0000] rev 7

Tidy up

Fix the fix

2014-12-22, by gregeric [Mon, 22 Dec 2014 21:49:05 +0000] rev 6

Fix the fix

Fix bug with direction change to CW for deceleration phase after issuing move(0)

2014-12-22, by gregeric [Mon, 22 Dec 2014 21:15:55 +0000] rev 5

Fix bug with direction change to CW for deceleration phase after issuing move(0)

Allow sequential single-stepping (keep record of phase).; Walk up or down one phase table to correctly single step either direction.; Motor in stop condition engages coils - release by issuing 0-step move while already stopped.

2014-12-21, by gregeric [Sun, 21 Dec 2014 11:11:56 +0000] rev 4

Allow sequential single-stepping (keep record of phase).; Walk up or down one phase table to correctly single step either direction.; Motor in stop condition engages coils - release by issuing 0-step move while already stopped.