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:
4:5b596b405573
Parent:
1:94f55ebfe2db
Child:
8:75fcbd49d49f
--- a/stepper.h	Thu Dec 18 19:49:42 2014 +0000
+++ b/stepper.h	Sun Dec 21 11:11:56 2014 +0000
@@ -106,7 +106,7 @@
         uint8_t  pls_width;
         uint8_t  ongoing;
         uint32_t continue_cnt;
-        uint32_t motor_step;  
+        uint8_t motor_step; //keeps track of phase only, no need of uint32_t  
     } Motor_Control;
 
     DigitalOut _xp, _xn, _yp, _yn;