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
Revision 0:52fb09e87581, committed 2013-02-24
- Comitter:
- melse
- Date:
- Sun Feb 24 16:23:02 2013 +0000
- Commit message:
- Initial Commit
Changed in this revision
| Stepper.cpp | Show annotated file Show diff for this revision Revisions of this file |
| Stepper.h | Show annotated file Show diff for this revision Revisions of this file |
diff -r 000000000000 -r 52fb09e87581 Stepper.cpp
--- /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;
+}
\ No newline at end of file
diff -r 000000000000 -r 52fb09e87581 Stepper.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Stepper.h Sun Feb 24 16:23:02 2013 +0000
@@ -0,0 +1,19 @@
+#ifndef MBED_STEPPER_H
+#define MBED_STEPPER_H
+#endif
+
+#include "mbed.h"
+
+class stepper
+{
+public:
+ stepper(PinName _en, PinName ms1, PinName ms2, PinName ms3, PinName _stepPin, PinName dir);
+ void step(int microstep, int dir, float speed);
+ void enable();
+ void disable();
+private:
+ DigitalOut en;
+ BusOut microstepping;
+ DigitalOut stepPin;
+ DigitalOut direction;
+};
\ No newline at end of file