Michael Dushkoff
This is a library that drives a stepper motor with given parameters for speed and direction.
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:
- 0:acf5b8fc382b
- Child:
- 1:6e0a307d0f9b
diff -r 000000000000 -r acf5b8fc382b mMotor.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mMotor.cpp Wed Apr 24 17:39:30 2013 +0000
@@ -0,0 +1,113 @@
+/* * * * * * * * * * * * * * * * * * * * * * * * * * *
+ * This is a stepper motor library for testing *
+ * 4 step stepper motors. The speed of stepping is *
+ * variable as well as the amount of steps. *
+ * ------------------------------------------------- *
+ * This library is based on the sMotor library by *
+ * Samuel Matildes (sam.naeec@gmail.com). *
+ * ------------------------------------------------- *
+ * *
+ * Created by: Michael Dushkoff (mad1841@rit.edu) *
+ * * * * * * * * * * * * * * * * * * * * * * * * * * */
+
+#include "mbed.h"
+#include "mMotor.h"
+
+int motorSpeed; // Steper speed
+
+mMotor::mMotor(PinName M0, PinName M1, PinName M2, PinName M3) : _M0(M0), _M1(M1), _M2(M2), _M3(M3) { // Defenition of motor pins
+ _M0=0;
+ _M1=0;
+ _M2=0;
+ _M3=0;
+}
+
+
+void mMotor::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::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::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 {
+ clockwise();
+ count++;
+ } while (count<num_steps); // turn number of steps applied
+ else if (direction==1)// turn anticlockwise
+ do {
+ counterclockwise();
+ count++;
+ } while (count<num_steps);// turn number of steps applied
+
+}
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