Moorthy Muthukrishnan
Program for driving bipolar stepper motor model 17HA0403-32N. Motor can be driven in wave, full step, and half step modes in clockwise and anticlockwise directions.
Fork of
LVHB Stepper Motor Drive
by 
NXP
main.cpp
- Committer:
- nmoorthy2001
- Date:
- 2016-09-20
- Revision:
- 1:48b0212c91e9
- Parent:
- 0:d14cf1e75576
File content as of revision 1:48b0212c91e9:
/*
Written by Moorthy Muthukrishnan
KL25Z program for driving bipolar stepper motor
Stepper motor model 17HA0403-32N
Driver board using L293D H-bridge driver IC
Note:
ULN2003-based drivers work well for unipolar stepper motors
but did not work with the bipoar stepper motors.
IN1A = Coil A+ IN1B = Coil B+
Y = coil 3 Orange = coil 4
Red = common
A Variable named mode is used to select the mode of operation of the stepper motor.
wave drive mode = 0
full step mode = 1
half step mode = 2
A variable named dir is used to define the direction of rotation
direction dir = 0 anticlockwise
direction dir = 1 clockwise
*/
//Libraries needed
#include "mbed.h"
#define DLY 0.1 // DLY 1s
//Input pins on Eval Board
DigitalOut IN1A(PTB8); // Pin IN1A input to EVAL board (FRDM PIN Name)
DigitalOut IN1B(PTB9); // Pin IN1B input to EVAL board (FRDM PIN Name)
DigitalOut IN2A(PTB10); // Pin IN2A input to EVAL board (FRDM PIN Name)
DigitalOut IN2B(PTB11); // Pin IN2B input to EVAL board (FRDM PIN Name)
Serial pc(USBTX,USBRX);
//variable
static int mode = 0;
static int dir = 0;
void wave_anticlockwise(void);
void fullstep_anticlockwise(void);
void halfstep_anticlockwise(void);
void wave_clockwise(void);
void fullstep_clockwise(void);
void halfstep_clockwise(void);
void motor_idle(void);
int main()
{
// enter mode in the following line
// 0 for wave drive, 1 for full step, 2 for half step
mode = 0;
//enter dir = 0 for anticlockwise rotation, dir = 1 for clockwise rotation
dir = 1;
pc.printf("\n\r");
pc.printf("****** Stepper Motor starting ******* \n\r");
pc.printf("Mode = %d Direction = %d \n\r", mode, dir);
while (true)
{
if (dir == 0)
{
pc.printf("Motor in anticlockwise rotation\n\r");
// wave drive
if (mode == 0)
{
wave_anticlockwise();
}
// full step
else if (mode == 1)
{
fullstep_anticlockwise();
}
// half step
else if (mode == 2)
{
halfstep_anticlockwise();
}
else
{
pc.printf("Invalid mode, Motor idle \n\r");
motor_idle();
}
}
else if (dir == 1)
{
pc.printf("Motor in clockwise rotation \n\r");
// wave drive
if (mode == 0)
{
wave_clockwise();
}
// full step
else if (mode == 1)
{
fullstep_clockwise();
}
// half step
else if (mode == 2)
{
halfstep_clockwise();
}
else
{
pc.printf("Invalid mode, Motor idle \n\r");
motor_idle();
}
}
else
{
pc.printf("Invalid direction, Motor idle \n\r");
motor_idle();
}
}
}
// function for wave drive in anticlockwise direction
void wave_anticlockwise()
{
pc.printf("Motor in wave drive \n\r");
//State8
IN1A = 1; //coil A +, coil B 0
IN1B = 0;
IN2A = 0;
IN2B = 0;
wait(DLY);
//State6
IN1A = 0; //coil A 0, coil B -
IN1B = 0;
IN2A = 0;
IN2B = 1;
wait(DLY);
//State4
IN1A = 0; //coil A -, coil B 0
IN1B = 1;
IN2A = 0;
IN2B = 0;
wait(DLY);
//State2
IN1A = 0; //coil A 0, coil B +
IN1B = 0;
IN2A = 1;
IN2B = 0;
wait(DLY);
}
// function for full step in anticlockwise direction
void fullstep_anticlockwise()
{
pc.printf("Motor in full step \n\r");
//State7
IN1A = 1; //coil A +, coil B -
IN1B = 0;
IN2A = 0;
IN2B = 1;
wait(DLY);
//State5
IN1A = 0; //coil A -, coil B -
IN1B = 1;
IN2A = 0;
IN2B = 1;
wait(DLY);
//State3
IN1A = 0; //coil A -, coil B +
IN1B = 1;
IN2A = 1;
IN2B = 0;
wait(DLY);
//State1
IN1A = 1; //coil A +, coil B +
IN1B = 0;
IN2A = 1;
IN2B = 0;
wait(DLY);
}
// function for half step in anticlockwise direction
void halfstep_anticlockwise()
{
pc.printf("Motor in half step \n\r");
//State8
IN1A = 1; //coil A +, coil B 0
IN1B = 0;
IN2A = 0;
IN2B = 0;
wait(DLY);
//State7
IN1A = 1; //coil A +, coil B -
IN1B = 0;
IN2A = 0;
IN2B = 1;
wait(DLY);
//State6
IN1A = 0; //coil A 0, coil B -
IN1B = 0;
IN2A = 0;
IN2B = 1;
wait(DLY);
//State5
IN1A = 0; //coil A -, coil B -
IN1B = 1;
IN2A = 0;
IN2B = 1;
wait(DLY);
//State4
IN1A = 0; //coil A -, coil B 0
IN1B = 1;
IN2A = 0;
IN2B = 0;
wait(DLY);
//State3
IN1A = 0; //coil A -, coil B +
IN1B = 1;
IN2A = 1;
IN2B = 0;
wait(DLY);
//State2
IN1A = 0; //coil A 0, coil B +
IN1B = 0;
IN2A = 1;
IN2B = 0;
wait(DLY);
//State1
IN1A = 1; //coil A +, coil B +
IN1B = 0;
IN2A = 1;
IN2B = 0;
wait(DLY);
}
// function for wave drive in clockwise direction
void wave_clockwise()
{
pc.printf("Motor in wave drive \n\r");
//State2
IN1A = 0; //coil A 0, coil B +
IN1B = 0;
IN2A = 1;
IN2B = 0;
wait(DLY);
//State4
IN1A = 0; //coil A -, coil B 0
IN1B = 1;
IN2A = 0;
IN2B = 0;
wait(DLY);
//State6
IN1A = 0; //coil A 0, coil B -
IN1B = 0;
IN2A = 0;
IN2B = 1;
wait(DLY);
//State8
IN1A = 1; //coil A +, coil B 0
IN1B = 0;
IN2A = 0;
IN2B = 0;
wait(DLY);
}
// function for full step in clockwise direction
void fullstep_clockwise()
{
pc.printf("Motor in full step \n\r");
//State1
IN1A = 1; //coil A +, coil B +
IN1B = 0;
IN2A = 1;
IN2B = 0;
wait(DLY);
//State3
IN1A = 0; //coil A -, coil B +
IN1B = 1;
IN2A = 1;
IN2B = 0;
wait(DLY);
//State5
IN1A = 0; //coil A -, coil B -
IN1B = 1;
IN2A = 0;
IN2B = 1;
wait(DLY);
//State7
IN1A = 1; //coil A +, coil B -
IN1B = 0;
IN2A = 0;
IN2B = 1;
wait(DLY);
}
void halfstep_clockwise()
{
pc.printf("Motor in half step \n\r");
//State1
IN1A = 1; //coil A +, coil B +
IN1B = 0;
IN2A = 1;
IN2B = 0;
wait(DLY);
//State2
IN1A = 0; //coil A 0, coil B +
IN1B = 0;
IN2A = 1;
IN2B = 0;
wait(DLY);
//State3
IN1A = 0; //coil A -, coil B +
IN1B = 1;
IN2A = 1;
IN2B = 0;
wait(DLY);
//State4
IN1A = 0; //coil A -, coil B 0
IN1B = 1;
IN2A = 0;
IN2B = 0;
wait(DLY);
//State5
IN1A = 0; //coil A -, coil B -
IN1B = 1;
IN2A = 0;
IN2B = 1;
wait(DLY);
//State6
IN1A = 0; //coil A 0, coil B -
IN1B = 0;
IN2A = 0;
IN2B = 1;
wait(DLY);
//State7
IN1A = 1; //coil A +, coil B -
IN1B = 0;
IN2A = 0;
IN2B = 1;
wait(DLY);
//State8
IN1A = 1; //coil A +, coil B 0
IN1B = 0;
IN2A = 0;
IN2B = 0;
wait(DLY);
}
void motor_idle()
{
//State0
IN1A = 0; //coil A 0, coil B 0
IN1B = 0;
IN2A = 0;
IN2B = 0;
wait(DLY);
}