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.

Diff: mMotor.cpp

Revision:
1:6e0a307d0f9b
Parent:
0:acf5b8fc382b
diff -r acf5b8fc382b -r 6e0a307d0f9b mMotor.cpp
--- a/mMotor.cpp	Wed Apr 24 17:39:30 2013 +0000
+++ b/mMotor.cpp	Mon May 13 16:19:54 2013 +0000
@@ -58,6 +58,10 @@
 
         wait_us(motorSpeed); // wait time defines the speed 
     }
+    _M0 = 0;
+    _M1 = 0;
+    _M2 = 0;
+    _M3 = 0;
 }
 
 void mMotor::clockwise() { // rotate the motor 1 step clockwise 
@@ -95,7 +99,87 @@
 
         wait_us(motorSpeed); // wait time defines the speed 
     }
+    _M0 = 0;
+    _M1 = 0;
+    _M2 = 0;
+    _M3 = 1;
 }
+
+void mMotor::ht_clockwise() { // rotate the motor 1 step clockwise 
+    for (int i = 0; i < 4; i++) {
+        switch (i) { // activate the ports A0, A2, A3, A3 in a binary sequence for steps
+            case 0: {
+                _M0=1;
+                _M1=0;
+                _M2=0;
+                _M3=0;
+            }
+            break;
+            case 1: {
+                _M0=0;
+                _M1=1;
+                _M2=0;
+                _M3=0;
+            }
+            break;
+            case 2: {
+                _M0=0;
+                _M1=0;
+                _M2=1;
+                _M3=0;
+            }
+            break;
+            case 3: {
+                _M0=0;
+                _M1=0;
+                _M2=0;
+                _M3=1;
+            }
+            break;
+        }
+
+        wait_us(motorSpeed); // wait time defines the speed 
+    }
+}
+
+void mMotor::ht_counterclockwise() { // rotate the motor 1 step anticlockwise 
+    for (int i = 0; i < 4; i++) {
+        switch (i) { // activate the ports A0, A2, A3, A3 in a binary sequence for steps
+            case 0: {
+                _M0=0;
+                _M1=0;
+                _M2=0;
+                _M3=1;
+            }
+            break;
+            case 1: {
+                _M0=0;
+                _M1=0;
+                _M2=1;
+                _M3=0;
+            }
+            break;
+            case 2: {
+                _M0=0;
+                _M1=1;
+                _M2=0;
+                _M3=0;
+            }
+            break;
+            case 3: {
+                _M0=1;
+                _M1=0;
+                _M2=0;
+                _M3=0;
+            }
+            break;
+        }
+
+        wait_us(motorSpeed); // wait time defines the speed 
+    }
+}
+
+
 void mMotor::step(int num_steps, int direction, int speed) {// steper function: number of steps, direction (0- right, 1- left), speed (default 1200)
     int count=0; // initalize step count
     motorSpeed=speed; //set motor speed
@@ -110,4 +194,20 @@
             count++;
         } while (count<num_steps);// turn number of steps applied 
 
+}
+
+void mMotor::ht_step(int num_steps, int direction, int speed) {// steper function: number of steps, direction (0- right, 1- left), speed (default 1200)
+    int count=0; // initalize step count
+    motorSpeed=speed; //set motor speed
+    if (direction==0) // turn clockwise
+        do {
+            ht_clockwise();
+            count++;
+        } while (count<num_steps); // turn number of steps applied 
+    else if (direction==1)// turn anticlockwise
+        do {
+            ht_counterclockwise();
+            count++;
+        } while (count<num_steps);// turn number of steps applied 
+
 }
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