Michael Dushkoff / mMotor

This is a library that drives a stepper motor with given parameters for speed and direction.

Dependents:   RaceTimer

About

This is a stepper motor library that is based on the sMotor library by Samuel Matildes (sam.naeec@gmail.com). It was designed to drive specifically a 5718m-05e-05 stepper motor in conjunction with an L293NE quad h-bridge chip. I am not responsible for any damage caused due to the execution of this program on your hardware as I can only confirm that it works for the above specified model. High torque mode is currently not complete.

mMotor.cpp@0:acf5b8fc382b, 2013-04-24 (annotated)

Committer:
mdu7078
Date:
Wed Apr 24 17:39:30 2013 +0000
Revision:
0:acf5b8fc382b
Child:
1:6e0a307d0f9b
First commit to motor library.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mdu7078 0:acf5b8fc382b 1 /* * * * * * * * * * * * * * * * * * * * * * * * * * *
mdu7078 0:acf5b8fc382b 2 * This is a stepper motor library for testing *
mdu7078 0:acf5b8fc382b 3 * 4 step stepper motors. The speed of stepping is *
mdu7078 0:acf5b8fc382b 4 * variable as well as the amount of steps. *
mdu7078 0:acf5b8fc382b 5 * ------------------------------------------------- *
mdu7078 0:acf5b8fc382b 6 * This library is based on the sMotor library by *
mdu7078 0:acf5b8fc382b 7 * Samuel Matildes (sam.naeec@gmail.com). *
mdu7078 0:acf5b8fc382b 8 * ------------------------------------------------- *
mdu7078 0:acf5b8fc382b 9 * *
mdu7078 0:acf5b8fc382b 10 * Created by: Michael Dushkoff (mad1841@rit.edu) *
mdu7078 0:acf5b8fc382b 11 * * * * * * * * * * * * * * * * * * * * * * * * * * */
mdu7078 0:acf5b8fc382b 12
mdu7078 0:acf5b8fc382b 13 #include "mbed.h"
mdu7078 0:acf5b8fc382b 14 #include "mMotor.h"
mdu7078 0:acf5b8fc382b 15
mdu7078 0:acf5b8fc382b 16 int motorSpeed; // Steper speed
mdu7078 0:acf5b8fc382b 17
mdu7078 0:acf5b8fc382b 18 mMotor::mMotor(PinName M0, PinName M1, PinName M2, PinName M3) : _M0(M0), _M1(M1), _M2(M2), _M3(M3) { // Defenition of motor pins
mdu7078 0:acf5b8fc382b 19 _M0=0;
mdu7078 0:acf5b8fc382b 20 _M1=0;
mdu7078 0:acf5b8fc382b 21 _M2=0;
mdu7078 0:acf5b8fc382b 22 _M3=0;
mdu7078 0:acf5b8fc382b 23 }
mdu7078 0:acf5b8fc382b 24
mdu7078 0:acf5b8fc382b 25
mdu7078 0:acf5b8fc382b 26 void mMotor::counterclockwise() { // rotate the motor 1 step anticlockwise
mdu7078 0:acf5b8fc382b 27 for (int i = 0; i < 4; i++) {
mdu7078 0:acf5b8fc382b 28 switch (i) { // activate the ports A0, A2, A3, A3 in a binary sequence for steps
mdu7078 0:acf5b8fc382b 29 case 0: {
mdu7078 0:acf5b8fc382b 30 _M0=0;
mdu7078 0:acf5b8fc382b 31 _M1=0;
mdu7078 0:acf5b8fc382b 32 _M2=0;
mdu7078 0:acf5b8fc382b 33 _M3=1;
mdu7078 0:acf5b8fc382b 34 }
mdu7078 0:acf5b8fc382b 35 break;
mdu7078 0:acf5b8fc382b 36 case 1: {
mdu7078 0:acf5b8fc382b 37 _M0=0;
mdu7078 0:acf5b8fc382b 38 _M1=0;
mdu7078 0:acf5b8fc382b 39 _M2=1;
mdu7078 0:acf5b8fc382b 40 _M3=0;
mdu7078 0:acf5b8fc382b 41 }
mdu7078 0:acf5b8fc382b 42 break;
mdu7078 0:acf5b8fc382b 43 case 2: {
mdu7078 0:acf5b8fc382b 44 _M0=0;
mdu7078 0:acf5b8fc382b 45 _M1=1;
mdu7078 0:acf5b8fc382b 46 _M2=0;
mdu7078 0:acf5b8fc382b 47 _M3=0;
mdu7078 0:acf5b8fc382b 48 }
mdu7078 0:acf5b8fc382b 49 break;
mdu7078 0:acf5b8fc382b 50 case 3: {
mdu7078 0:acf5b8fc382b 51 _M0=1;
mdu7078 0:acf5b8fc382b 52 _M1=0;
mdu7078 0:acf5b8fc382b 53 _M2=0;
mdu7078 0:acf5b8fc382b 54 _M3=0;
mdu7078 0:acf5b8fc382b 55 }
mdu7078 0:acf5b8fc382b 56 break;
mdu7078 0:acf5b8fc382b 57 }
mdu7078 0:acf5b8fc382b 58
mdu7078 0:acf5b8fc382b 59 wait_us(motorSpeed); // wait time defines the speed
mdu7078 0:acf5b8fc382b 60 }
mdu7078 0:acf5b8fc382b 61 }
mdu7078 0:acf5b8fc382b 62
mdu7078 0:acf5b8fc382b 63 void mMotor::clockwise() { // rotate the motor 1 step clockwise
mdu7078 0:acf5b8fc382b 64 for (int i = 0; i < 4; i++) {
mdu7078 0:acf5b8fc382b 65 switch (i) { // activate the ports A0, A2, A3, A3 in a binary sequence for steps
mdu7078 0:acf5b8fc382b 66 case 0: {
mdu7078 0:acf5b8fc382b 67 _M0=1;
mdu7078 0:acf5b8fc382b 68 _M1=0;
mdu7078 0:acf5b8fc382b 69 _M2=0;
mdu7078 0:acf5b8fc382b 70 _M3=0;
mdu7078 0:acf5b8fc382b 71 }
mdu7078 0:acf5b8fc382b 72 break;
mdu7078 0:acf5b8fc382b 73 case 1: {
mdu7078 0:acf5b8fc382b 74 _M0=0;
mdu7078 0:acf5b8fc382b 75 _M1=1;
mdu7078 0:acf5b8fc382b 76 _M2=0;
mdu7078 0:acf5b8fc382b 77 _M3=0;
mdu7078 0:acf5b8fc382b 78 }
mdu7078 0:acf5b8fc382b 79 break;
mdu7078 0:acf5b8fc382b 80 case 2: {
mdu7078 0:acf5b8fc382b 81 _M0=0;
mdu7078 0:acf5b8fc382b 82 _M1=0;
mdu7078 0:acf5b8fc382b 83 _M2=1;
mdu7078 0:acf5b8fc382b 84 _M3=0;
mdu7078 0:acf5b8fc382b 85 }
mdu7078 0:acf5b8fc382b 86 break;
mdu7078 0:acf5b8fc382b 87 case 3: {
mdu7078 0:acf5b8fc382b 88 _M0=0;
mdu7078 0:acf5b8fc382b 89 _M1=0;
mdu7078 0:acf5b8fc382b 90 _M2=0;
mdu7078 0:acf5b8fc382b 91 _M3=1;
mdu7078 0:acf5b8fc382b 92 }
mdu7078 0:acf5b8fc382b 93 break;
mdu7078 0:acf5b8fc382b 94 }
mdu7078 0:acf5b8fc382b 95
mdu7078 0:acf5b8fc382b 96 wait_us(motorSpeed); // wait time defines the speed
mdu7078 0:acf5b8fc382b 97 }
mdu7078 0:acf5b8fc382b 98 }
mdu7078 0:acf5b8fc382b 99 void mMotor::step(int num_steps, int direction, int speed) {// steper function: number of steps, direction (0- right, 1- left), speed (default 1200)
mdu7078 0:acf5b8fc382b 100 int count=0; // initalize step count
mdu7078 0:acf5b8fc382b 101 motorSpeed=speed; //set motor speed
mdu7078 0:acf5b8fc382b 102 if (direction==0) // turn clockwise
mdu7078 0:acf5b8fc382b 103 do {
mdu7078 0:acf5b8fc382b 104 clockwise();
mdu7078 0:acf5b8fc382b 105 count++;
mdu7078 0:acf5b8fc382b 106 } while (count<num_steps); // turn number of steps applied
mdu7078 0:acf5b8fc382b 107 else if (direction==1)// turn anticlockwise
mdu7078 0:acf5b8fc382b 108 do {
mdu7078 0:acf5b8fc382b 109 counterclockwise();
mdu7078 0:acf5b8fc382b 110 count++;
mdu7078 0:acf5b8fc382b 111 } while (count<num_steps);// turn number of steps applied
mdu7078 0:acf5b8fc382b 112
mdu7078 0:acf5b8fc382b 113 }