Matthew Else
A simple stepper motor driver library, supporting micro-stepping drivers such as the Pololu A4988 stepper driver carrier or the Sparkfun EasyDriver.
Dependents: tes_stepper Test_all
Stepper Motor Driver, designed for use with the Pololu A4988 breakout, however more than likely compatible with, for example the Sparkfun Easy Driver
Diff: Stepper.cpp
- Revision:
- 0:52fb09e87581
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Stepper.cpp Sun Feb 24 16:23:02 2013 +0000
@@ -0,0 +1,41 @@
+#include "Stepper.h"
+#include "mbed.h"
+
+stepper::stepper(PinName _en, PinName ms1, PinName ms2, PinName ms3, PinName _stepPin, PinName dir):en(_en),
+ microstepping(ms1, ms2, ms3),
+ stepPin(_stepPin),
+ direction(dir)
+{
+}
+
+void stepper::step(int microstep, int dir, float speed)
+{
+ if (microstep == 1) {
+ microstepping = 0;
+ } else if (microstep <= 4) {
+ microstepping = microstep / 2;
+ } else if (microstep > 4) {
+ microstepping = (microstep / 2) - 1;
+ }
+ if (dir == 1) {
+ direction = 0;
+ } else if (dir == 0) {
+ direction = 1;
+ }
+
+ // Step...
+ stepPin = 1;
+ wait(1/speed);
+ stepPin = 0;
+ wait(1/speed);
+}
+
+void stepper::enable()
+{
+ en = 0;
+}
+
+void stepper::disable()
+{
+ en = 1;
+}
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