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.
mMotor.cpp
- Committer:
- mdu7078
- Date:
- 2013-05-13
- Revision:
- 1:6e0a307d0f9b
- Parent:
- 0:acf5b8fc382b
File content as of revision 1:6e0a307d0f9b:
/* * * * * * * * * * * * * * * * * * * * * * * * * * *
* 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
}
_M0 = 0;
_M1 = 0;
_M2 = 0;
_M3 = 0;
}
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
}
_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
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
}
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
}