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.
Revision 1:6e0a307d0f9b, committed 2013-05-13
- Comitter:
- mdu7078
- Date:
- Mon May 13 16:19:54 2013 +0000
- Parent:
- 0:acf5b8fc382b
- Commit message:
- First commit of mMotor library
Changed in this revision
mMotor.cpp | Show annotated file Show diff for this revision Revisions of this file |
mMotor.h | Show annotated file Show diff for this revision Revisions of this file |
--- 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 + } \ No newline at end of file
--- a/mMotor.h Wed Apr 24 17:39:30 2013 +0000 +++ b/mMotor.h Mon May 13 16:19:54 2013 +0000 @@ -20,9 +20,15 @@ mMotor(PinName M0, PinName M1, PinName M2, PinName M3); //motor constructor + /* Low Torque mode */ void step(int num_steps, int direction, int speed); void counterclockwise(); void clockwise(); + + /* High Torque mode */ + void ht_step(int num_steps, int direction, int speed); + void ht_counterclockwise(); + void ht_clockwise(); private: