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:
8:75fcbd49d49f
Parent:
4:5b596b405573
diff -r 9fc4b1be489c -r 75fcbd49d49f stepper.h
--- a/stepper.h	Tue Dec 23 10:36:58 2014 +0000
+++ b/stepper.h	Wed Dec 31 17:36:36 2014 +0000
@@ -85,7 +85,15 @@
       * @param none
       * @return running(= 1), stopped(= 0)
       */
+      //surely other states can be returned too eg UP, CONTINUE, CHANGE, DOWN?
     uint8_t status (void);
+    
+    /** De-energize coils
+      * @param none
+      * @return none
+      */
+    void stop();
+
 
 protected:
     // Rotation Direction
@@ -112,8 +120,7 @@
     DigitalOut _xp, _xn, _yp, _yn;
     Ticker _smdrv;
     
-    void init();
-    void set4ports (uint32_t step, int8_t dir);
+    void set4ports (void);
     void setup_mtr_drv_dt(Motor_Inf *mi, Motor_Control *mt);
     void millisec_inteval();