Tedd OKANO / StepperMotorUni

Unipolar stepper motor operation library

Dependents:   LAB04_Oppgave1 test_stepper Stepper_Motor_Demo StepperMotorUni_Hello ... more

Unipolar stepper motor library

This library generates pulses on 4 digital output pins of the mbed. The pulses are generated by mbed's ticker function.

The mbed pins cannot drive the stepper motor directly. So it requires driver stage for the motor. The circuit may be like following diagram.
The driver stage should be chosen by requirement for the stepper motor.

/media/uploads/okano/unipolar-steppermotor-sample.png

The mbed generates pulses on 4 output pins for external driver stage.
This library can generate 3 types of pulses.

1 phase drive (wave drive) /media/uploads/okano/1phase_drive.gif

2 phase drive /media/uploads/okano/2phase_drive.gif

1-2 phase (half step) drive /media/uploads/okano/halfstep_drive.gif

Components pages

Components pages are available for bipolar and unipolar motor libraries

A bipolar stepper motor driving pulse generator

A unipolar stepper motor driving pulse generator

StepperMotorUni.cpp@4:6909efe4c8ac, 2015-04-22 (annotated)

Committer:
okano
Date:
Wed Apr 22 03:24:21 2015 +0000
Revision:
4:6909efe4c8ac
Parent:
3:0eec6148e739
Child:
5:93f9ce526f38
fixed: find_home_position compatibility with ramp control feature

Who changed what in which revision?

UserRevisionLine numberNew contents of line
okano 0:5d0abdf92786 1 /** Stepper Motor (Unipolar) control library
okano 0:5d0abdf92786 2 *
okano 0:5d0abdf92786 3 * @class StepperMotorUni
okano 0:5d0abdf92786 4 * @author Tedd OKANO
okano 4:6909efe4c8ac 5 * @version 1.1.1
okano 4:6909efe4c8ac 6 * @date 22-Apr-2015
okano 0:5d0abdf92786 7 *
okano 3:0eec6148e739 8 * Copyright: 2010, 2014, 2015 Tedd OKANO
okano 0:5d0abdf92786 9 * Released under the Apache 2 license License
okano 0:5d0abdf92786 10 *
okano 0:5d0abdf92786 11 * The library that controls stepper motor via motor driver chip
okano 0:5d0abdf92786 12 * This is a driver for a unipolar stepper motor.
okano 0:5d0abdf92786 13 *
okano 0:5d0abdf92786 14 * Example:
okano 0:5d0abdf92786 15 * @code
okano 0:5d0abdf92786 16 * #include "mbed.h"
okano 0:5d0abdf92786 17 * #include "StepperMotorUni.h"
okano 4:6909efe4c8ac 18 *
okano 0:5d0abdf92786 19 * StepperMotorUni motor( p26, p25, p24, p23 );
okano 4:6909efe4c8ac 20 *
okano 0:5d0abdf92786 21 * int main()
okano 0:5d0abdf92786 22 * {
okano 0:5d0abdf92786 23 * motor.set_pps( 50 );
okano 4:6909efe4c8ac 24 *
okano 0:5d0abdf92786 25 * while ( 1 ) {
okano 0:5d0abdf92786 26 * motor.move_steps( 24 );
okano 0:5d0abdf92786 27 * wait( 1 );
okano 4:6909efe4c8ac 28 *
okano 0:5d0abdf92786 29 * motor.move_steps( -24 );
okano 0:5d0abdf92786 30 * wait( 1 );
okano 0:5d0abdf92786 31 * }
okano 0:5d0abdf92786 32 * }
okano 0:5d0abdf92786 33 * @endcode
okano 4:6909efe4c8ac 34 *
okano 4:6909efe4c8ac 35 * version 0.51 (27-Nov-2010) // initial version (un-published)
okano 4:6909efe4c8ac 36 * version 0.6 (15-Jan-2014) // compatible to LPC1768, LPC11U24 and LPC1114 targets
okano 4:6909efe4c8ac 37 * version 1.0 (19-Jun-2014) // version 1.0 release
okano 3:0eec6148e739 38 * version 1.0.1 (14-Apr-2015) // API document correction
okano 4:6909efe4c8ac 39 * version 1.1 (21-Apr-2015) // ramp control function enabled
okano 4:6909efe4c8ac 40 * version 1.1.1 (22-Apr-2015) // fixed: find_home_position compatibility with ramp control feature
okano 0:5d0abdf92786 41 */
okano 0:5d0abdf92786 42
okano 0:5d0abdf92786 43 #include "mbed.h"
okano 0:5d0abdf92786 44 #include "StepperMotorUni.h"
okano 0:5d0abdf92786 45
okano 0:5d0abdf92786 46 StepperMotorUni::StepperMotorUni(
okano 0:5d0abdf92786 47 PinName out_A,
okano 0:5d0abdf92786 48 PinName out_B,
okano 0:5d0abdf92786 49 PinName out_C,
okano 0:5d0abdf92786 50 PinName out_D,
okano 0:5d0abdf92786 51 PinName position_detect
okano 0:5d0abdf92786 52 ) :
okano 4:6909efe4c8ac 53 motor_out( out_A, out_B, out_C, out_D ),
okano 4:6909efe4c8ac 54 position_detect_pin( position_detect ),
okano 4:6909efe4c8ac 55 rot_mode( SHORTEST ),
okano 4:6909efe4c8ac 56 sync_mode( ASYNCHRONOUS ),
okano 4:6909efe4c8ac 57 max_pos( 480 ),
okano 4:6909efe4c8ac 58 current_pos( 0 ),
okano 4:6909efe4c8ac 59 pos_offset( 0 ),
okano 4:6909efe4c8ac 60 target_pos( 0 ),
okano 4:6909efe4c8ac 61 max_pps( MAX_PPS ),
okano 4:6909efe4c8ac 62 init_done( false ),
okano 4:6909efe4c8ac 63 pause( false ),
okano 4:6909efe4c8ac 64 power_ctrl( false ),
okano 4:6909efe4c8ac 65 ramp_init_speed_rate( 1.0 ),
okano 4:6909efe4c8ac 66 ramp_control_steps( 0 ),
okano 4:6909efe4c8ac 67 ramp_rate( 1.0 )
okano 4:6909efe4c8ac 68 {
okano 0:5d0abdf92786 69
okano 0:5d0abdf92786 70 pps = max_pps;
okano 0:5d0abdf92786 71 pattern = (unsigned char *)pattern_one_phase;
okano 0:5d0abdf92786 72 pat_index_mask = 0x3;
okano 0:5d0abdf92786 73 t.attach( this, &StepperMotorUni::motor_maintain, 1.0 / (float)pps );
okano 0:5d0abdf92786 74 }
okano 0:5d0abdf92786 75
okano 4:6909efe4c8ac 76 float StepperMotorUni::set_pps( float v )
okano 4:6909efe4c8ac 77 {
okano 0:5d0abdf92786 78 float p;
okano 0:5d0abdf92786 79
okano 0:5d0abdf92786 80 p = pps;
okano 0:5d0abdf92786 81 pps = v;
okano 0:5d0abdf92786 82 t.detach();
okano 0:5d0abdf92786 83 t.attach( this, &StepperMotorUni::motor_maintain, 1.0 / (float)pps );
okano 0:5d0abdf92786 84 return ( p );
okano 0:5d0abdf92786 85 }
okano 0:5d0abdf92786 86
okano 4:6909efe4c8ac 87 void StepperMotorUni::set_max_pps( float v )
okano 4:6909efe4c8ac 88 {
okano 0:5d0abdf92786 89 max_pps = v;
okano 0:5d0abdf92786 90 }
okano 0:5d0abdf92786 91
okano 4:6909efe4c8ac 92 int StepperMotorUni::find_home_position( PositionDetectPorarity edge )
okano 4:6909efe4c8ac 93 {
okano 0:5d0abdf92786 94 RotMode prev_rot;
okano 0:5d0abdf92786 95 SyncMode prev_sync;
okano 0:5d0abdf92786 96 float prev_pps;
okano 4:6909efe4c8ac 97 float prev_i_rate;
okano 4:6909efe4c8ac 98 int prev_rcs;
okano 0:5d0abdf92786 99 int prev_det_pin;
okano 0:5d0abdf92786 100 int direction;
okano 0:5d0abdf92786 101
okano 0:5d0abdf92786 102 if ( position_detect_pin == NC )
okano 0:5d0abdf92786 103 return 0;
okano 0:5d0abdf92786 104
okano 0:5d0abdf92786 105 prev_pps = set_pps( max_pps );
okano 4:6909efe4c8ac 106 prev_i_rate = ramp_init_speed_rate;
okano 4:6909efe4c8ac 107 prev_rcs = ramp_control_steps;
okano 0:5d0abdf92786 108 prev_rot = rot_mode;
okano 0:5d0abdf92786 109 prev_sync = sync_mode;
okano 0:5d0abdf92786 110 set_sync_mode( SYNCHRONOUS );
okano 0:5d0abdf92786 111 set_rot_mode( SHORTEST );
okano 0:5d0abdf92786 112
okano 4:6909efe4c8ac 113 prev_det_pin = position_detect_pin;
okano 4:6909efe4c8ac 114 set_ramp_control( 1.0, 0 );
okano 0:5d0abdf92786 115
okano 0:5d0abdf92786 116 if ( prev_rot == COUNTER_CLOCKWISE_ONLY )
okano 0:5d0abdf92786 117 direction = -1;
okano 0:5d0abdf92786 118 else
okano 0:5d0abdf92786 119 direction = 1;
okano 0:5d0abdf92786 120
okano 0:5d0abdf92786 121 if ( prev_rot == NO_WRAPAROUND ) {
okano 0:5d0abdf92786 122
okano 0:5d0abdf92786 123 for ( int i = 0; i < (max_pos >> 1); i++ ) {
okano 0:5d0abdf92786 124 move_steps( -1 );
okano 0:5d0abdf92786 125 if ( ((edge == RISING_EDGE) && !prev_det_pin && position_detect_pin)
okano 0:5d0abdf92786 126 || ((edge == FALLING_EDGE) && prev_det_pin && !position_detect_pin) ) {
okano 0:5d0abdf92786 127 set_home_position();
okano 0:5d0abdf92786 128 init_done = true;
okano 0:5d0abdf92786 129 break;
okano 0:5d0abdf92786 130 }
okano 0:5d0abdf92786 131 prev_det_pin = position_detect_pin;
okano 0:5d0abdf92786 132 }
okano 0:5d0abdf92786 133 }
okano 0:5d0abdf92786 134
okano 0:5d0abdf92786 135 for ( int i = 0; i < ((prev_rot == NO_WRAPAROUND) ? (max_pos - 1) : (max_pos + 10)); i++ ) {
okano 0:5d0abdf92786 136 move_steps( direction );
okano 0:5d0abdf92786 137 if ( ((edge == RISING_EDGE) && !prev_det_pin && position_detect_pin)
okano 0:5d0abdf92786 138 || ((edge == FALLING_EDGE) && prev_det_pin && !position_detect_pin) ) {
okano 0:5d0abdf92786 139 set_home_position();
okano 0:5d0abdf92786 140 init_done = true;
okano 0:5d0abdf92786 141 break;
okano 0:5d0abdf92786 142 }
okano 0:5d0abdf92786 143 prev_det_pin = position_detect_pin;
okano 0:5d0abdf92786 144 }
okano 0:5d0abdf92786 145
okano 0:5d0abdf92786 146 go_position( 0 );
okano 0:5d0abdf92786 147 set_pps( prev_pps );
okano 0:5d0abdf92786 148 set_rot_mode( prev_rot );
okano 0:5d0abdf92786 149 set_sync_mode( prev_sync );
okano 4:6909efe4c8ac 150 set_ramp_control( prev_i_rate, prev_rcs );
okano 0:5d0abdf92786 151
okano 0:5d0abdf92786 152 return ( init_done );
okano 0:5d0abdf92786 153 }
okano 0:5d0abdf92786 154
okano 4:6909efe4c8ac 155 void StepperMotorUni::set_home_position( void )
okano 4:6909efe4c8ac 156 {
okano 0:5d0abdf92786 157 set_pause( true );
okano 0:5d0abdf92786 158 pos_offset = current_pos & 0x3;
okano 0:5d0abdf92786 159 current_pos = 0;
okano 0:5d0abdf92786 160 set_target_pos( 0 );
okano 0:5d0abdf92786 161 set_pause( false );
okano 0:5d0abdf92786 162 }
okano 0:5d0abdf92786 163
okano 0:5d0abdf92786 164
okano 4:6909efe4c8ac 165 void StepperMotorUni::go_angle( float angle )
okano 4:6909efe4c8ac 166 {
okano 0:5d0abdf92786 167 go_position( (int)((angle / 360.0) * (float)max_pos) );
okano 0:5d0abdf92786 168 }
okano 0:5d0abdf92786 169
okano 4:6909efe4c8ac 170 int StepperMotorUni::move_steps( int s )
okano 4:6909efe4c8ac 171 {
okano 0:5d0abdf92786 172 set_target_pos( current_pos + s );
okano 0:5d0abdf92786 173 return ( current_pos );
okano 0:5d0abdf92786 174 }
okano 0:5d0abdf92786 175
okano 4:6909efe4c8ac 176 int StepperMotorUni::move_rotates( float r )
okano 4:6909efe4c8ac 177 {
okano 0:5d0abdf92786 178 set_target_pos( current_pos + (int)(r * (float)max_pos) );
okano 0:5d0abdf92786 179 return ( current_pos );
okano 0:5d0abdf92786 180 }
okano 0:5d0abdf92786 181
okano 4:6909efe4c8ac 182 void StepperMotorUni::set_operation_phase_mode( OperationPhaseMode v )
okano 4:6909efe4c8ac 183 {
okano 0:5d0abdf92786 184
okano 0:5d0abdf92786 185 switch ( v ) {
okano 0:5d0abdf92786 186 case StepperMotorUni::ONE_PHASE :
okano 0:5d0abdf92786 187 pattern = pattern_one_phase;
okano 0:5d0abdf92786 188 pat_index_mask = 0x3;
okano 0:5d0abdf92786 189 break;
okano 0:5d0abdf92786 190 case StepperMotorUni::TWO_PHASE :
okano 0:5d0abdf92786 191 pattern = pattern_two_phase;
okano 0:5d0abdf92786 192 pat_index_mask = 0x3;
okano 0:5d0abdf92786 193 break;
okano 0:5d0abdf92786 194 case StepperMotorUni::HALFSTEP :
okano 0:5d0abdf92786 195 pattern = pattern_halfstep;
okano 0:5d0abdf92786 196 pat_index_mask = 0x7;
okano 0:5d0abdf92786 197 break;
okano 0:5d0abdf92786 198 }
okano 0:5d0abdf92786 199
okano 0:5d0abdf92786 200 phase_mode = v;
okano 0:5d0abdf92786 201 }
okano 0:5d0abdf92786 202
okano 4:6909efe4c8ac 203 void StepperMotorUni::set_rot_mode( RotMode m )
okano 4:6909efe4c8ac 204 {
okano 0:5d0abdf92786 205 rot_mode = m;
okano 0:5d0abdf92786 206 }
okano 0:5d0abdf92786 207
okano 4:6909efe4c8ac 208 void StepperMotorUni::set_sync_mode( SyncMode m )
okano 4:6909efe4c8ac 209 {
okano 0:5d0abdf92786 210 sync_mode = m;
okano 0:5d0abdf92786 211 }
okano 0:5d0abdf92786 212
okano 4:6909efe4c8ac 213 int StepperMotorUni::distance( void )
okano 4:6909efe4c8ac 214 {
okano 0:5d0abdf92786 215 return( target_pos - current_pos );
okano 0:5d0abdf92786 216 }
okano 0:5d0abdf92786 217
okano 4:6909efe4c8ac 218 void StepperMotorUni::set_pause( int sw )
okano 4:6909efe4c8ac 219 {
okano 0:5d0abdf92786 220 pause = sw;
okano 0:5d0abdf92786 221 }
okano 0:5d0abdf92786 222
okano 4:6909efe4c8ac 223 void StepperMotorUni::brake( void )
okano 4:6909efe4c8ac 224 {
okano 0:5d0abdf92786 225 brake( SOFT_BRAKE );
okano 0:5d0abdf92786 226 }
okano 0:5d0abdf92786 227
okano 4:6909efe4c8ac 228 void StepperMotorUni::brake( BrakeMode mode )
okano 4:6909efe4c8ac 229 {
okano 0:5d0abdf92786 230 int extra_steps;
okano 0:5d0abdf92786 231
okano 0:5d0abdf92786 232 if ( mode == SOFT_BRAKE ) {
okano 0:5d0abdf92786 233 extra_steps = abs( target_pos - current_pos );
okano 0:5d0abdf92786 234 extra_steps = extra_steps < ramp_control_steps ? extra_steps : ramp_control_steps;
okano 0:5d0abdf92786 235 extra_steps = target_pos < current_pos ? -extra_steps : extra_steps;
okano 0:5d0abdf92786 236 } else {
okano 0:5d0abdf92786 237 extra_steps = 0;
okano 0:5d0abdf92786 238 }
okano 0:5d0abdf92786 239
okano 0:5d0abdf92786 240 target_pos = current_pos + extra_steps;
okano 0:5d0abdf92786 241 }
okano 0:5d0abdf92786 242
okano 4:6909efe4c8ac 243 void StepperMotorUni::set_target_pos( int p )
okano 4:6909efe4c8ac 244 {
okano 0:5d0abdf92786 245 target_pos = p;
okano 0:5d0abdf92786 246
okano 0:5d0abdf92786 247 if (sync_mode == SYNCHRONOUS)
okano 0:5d0abdf92786 248 while ( distance() )
okano 0:5d0abdf92786 249 wait( 0 );
okano 0:5d0abdf92786 250 }
okano 0:5d0abdf92786 251
okano 4:6909efe4c8ac 252 void StepperMotorUni::set_power_ctrl( int sw )
okano 4:6909efe4c8ac 253 {
okano 0:5d0abdf92786 254 power_ctrl = sw;
okano 0:5d0abdf92786 255 }
okano 0:5d0abdf92786 256
okano 4:6909efe4c8ac 257 void StepperMotorUni::set_steps_per_rotate( int steps )
okano 4:6909efe4c8ac 258 {
okano 0:5d0abdf92786 259 max_pos = steps;
okano 0:5d0abdf92786 260 }
okano 0:5d0abdf92786 261
okano 4:6909efe4c8ac 262 void StepperMotorUni::set_ramp_control( float initial_speed_rate, int ramp_steps )
okano 4:6909efe4c8ac 263 {
okano 0:5d0abdf92786 264 ramp_init_speed_rate = initial_speed_rate;
okano 0:5d0abdf92786 265 ramp_control_steps = ramp_steps;
okano 4:6909efe4c8ac 266
okano 4:6909efe4c8ac 267 if ( ramp_steps == 0 )
okano 4:6909efe4c8ac 268 ramp_rate = 1.0;
okano 4:6909efe4c8ac 269 else {
okano 4:6909efe4c8ac 270 ramp_rate = powf( ramp_init_speed_rate, 1.0 / (float)ramp_control_steps );
okano 4:6909efe4c8ac 271 }
okano 0:5d0abdf92786 272 }
okano 0:5d0abdf92786 273
okano 4:6909efe4c8ac 274 void StepperMotorUni::motor_maintain( void )
okano 4:6909efe4c8ac 275 {
okano 0:5d0abdf92786 276 int distance;
okano 0:5d0abdf92786 277 static int moved_steps = 0;
okano 0:5d0abdf92786 278 static int ramp_steps = 0;
okano 0:5d0abdf92786 279 static float speed_rate = 1.0;
okano 0:5d0abdf92786 280
okano 0:5d0abdf92786 281 if ( pause )
okano 0:5d0abdf92786 282 return;
okano 0:5d0abdf92786 283
okano 0:5d0abdf92786 284 distance = target_pos - current_pos;
okano 0:5d0abdf92786 285 distance = (distance < 0)? -distance : distance;
okano 0:5d0abdf92786 286
okano 0:5d0abdf92786 287 if ( !distance ) {
okano 0:5d0abdf92786 288 motor_out = power_ctrl ? 0 : 1;
okano 0:5d0abdf92786 289 moved_steps = 0;
okano 0:5d0abdf92786 290 return;
okano 0:5d0abdf92786 291 }
okano 0:5d0abdf92786 292
okano 0:5d0abdf92786 293 if ( !moved_steps ) { // ramp control
okano 0:5d0abdf92786 294 speed_rate = ramp_init_speed_rate;
okano 0:5d0abdf92786 295 ramp_steps = ((ramp_control_steps * 2) - distance) / 2;
okano 0:5d0abdf92786 296 ramp_steps = (0 < ramp_steps) ? ramp_control_steps - ramp_steps : ramp_control_steps;
okano 0:5d0abdf92786 297 // printf( "ramp_steps=%d, speed_rate=%f\r\n", ramp_steps, speed_rate );
okano 0:5d0abdf92786 298 // printf( "diff=%d, speed_rate=%f\r\n", diff, speed_rate );
okano 0:5d0abdf92786 299 } else if ( moved_steps < ramp_steps ) {
okano 0:5d0abdf92786 300 speed_rate /= ramp_rate;
okano 0:5d0abdf92786 301 } else if ( distance <= ramp_steps ) {
okano 0:5d0abdf92786 302 speed_rate *= ramp_rate;
okano 0:5d0abdf92786 303 } else {
okano 0:5d0abdf92786 304 speed_rate = 1.0;
okano 0:5d0abdf92786 305 }
okano 0:5d0abdf92786 306
okano 0:5d0abdf92786 307 moved_steps++;
okano 0:5d0abdf92786 308 current_pos = current_pos + ( (target_pos < current_pos) ? -1 : 1 );
okano 0:5d0abdf92786 309
okano 0:5d0abdf92786 310 motor_out = pattern[ (current_pos + pos_offset) & pat_index_mask ];
okano 0:5d0abdf92786 311
okano 0:5d0abdf92786 312 //printf( "%d>>>%d\r\n", current_pos, target_pos );
okano 0:5d0abdf92786 313
okano 0:5d0abdf92786 314 if ( speed_rate != 1.0 ) {
okano 2:6835e719ff96 315 t.detach();
okano 2:6835e719ff96 316 t.attach( this, &StepperMotorUni::motor_maintain, ((1.0 / (float)pps)) / speed_rate );
okano 0:5d0abdf92786 317 }
okano 0:5d0abdf92786 318
okano 0:5d0abdf92786 319 if ( target_pos == current_pos ) {
okano 0:5d0abdf92786 320 current_pos = current_pos % max_pos;
okano 0:5d0abdf92786 321 target_pos = target_pos % max_pos;
okano 0:5d0abdf92786 322 moved_steps = 0;
okano 0:5d0abdf92786 323 }
okano 0:5d0abdf92786 324 };
okano 0:5d0abdf92786 325
okano 4:6909efe4c8ac 326 int StepperMotorUni::go_position( int target_pos )
okano 4:6909efe4c8ac 327 {
okano 0:5d0abdf92786 328
okano 0:5d0abdf92786 329 current_pos = current_pos % max_pos;
okano 0:5d0abdf92786 330 current_pos = (current_pos < 0) ? current_pos + max_pos : current_pos;
okano 0:5d0abdf92786 331
okano 0:5d0abdf92786 332 target_pos = target_pos % max_pos;
okano 0:5d0abdf92786 333 target_pos = (target_pos < 0) ? target_pos + max_pos : target_pos;
okano 0:5d0abdf92786 334
okano 0:5d0abdf92786 335 #define CW 0
okano 0:5d0abdf92786 336 #define CCW 1
okano 0:5d0abdf92786 337
okano 0:5d0abdf92786 338 int direction;
okano 0:5d0abdf92786 339
okano 0:5d0abdf92786 340 switch ( rot_mode ) {
okano 0:5d0abdf92786 341 case NO_WRAPAROUND :
okano 0:5d0abdf92786 342 direction = (current_pos < target_pos) ? CW : CCW;
okano 0:5d0abdf92786 343 break;
okano 0:5d0abdf92786 344 case CLOCKWISE_ONLY :
okano 0:5d0abdf92786 345 direction = CW;
okano 0:5d0abdf92786 346 break;
okano 0:5d0abdf92786 347 case COUNTER_CLOCKWISE_ONLY :
okano 0:5d0abdf92786 348 direction = CCW;
okano 0:5d0abdf92786 349 break;
okano 0:5d0abdf92786 350 default : // SHORTEST :
okano 0:5d0abdf92786 351 direction = ( (max_pos >> 1) < ((target_pos + max_pos - current_pos) % max_pos) ) ? CCW : CW;
okano 0:5d0abdf92786 352 break;
okano 0:5d0abdf92786 353 }
okano 0:5d0abdf92786 354
okano 0:5d0abdf92786 355 switch ( direction ) {
okano 0:5d0abdf92786 356 case CW :
okano 0:5d0abdf92786 357 current_pos = (target_pos < current_pos) ? current_pos - max_pos : current_pos;
okano 0:5d0abdf92786 358 break;
okano 0:5d0abdf92786 359 case CCW :
okano 0:5d0abdf92786 360 target_pos = (current_pos < target_pos) ? target_pos - max_pos : target_pos;
okano 0:5d0abdf92786 361 break;
okano 0:5d0abdf92786 362 }
okano 0:5d0abdf92786 363
okano 0:5d0abdf92786 364 set_target_pos( target_pos );
okano 0:5d0abdf92786 365 return ( current_pos );
okano 0:5d0abdf92786 366 }
okano 0:5d0abdf92786 367
okano 0:5d0abdf92786 368 #if 0
okano 0:5d0abdf92786 369 unsigned char StepperMotorUni::pattern_one_phase[ 4 ] = { 0x8, 0x4, 0x2, 0x1 };
okano 0:5d0abdf92786 370 unsigned char StepperMotorUni::pattern_two_phase[ 4 ] = { 0x9, 0xC, 0x6, 0x3 };
okano 0:5d0abdf92786 371 unsigned char StepperMotorUni::pattern_halfstep[ 8 ] = { 0x9, 0x8, 0xC, 0x4, 0x6, 0x2, 0x3, 0x1 };
okano 0:5d0abdf92786 372 #else
okano 0:5d0abdf92786 373 unsigned char StepperMotorUni::pattern_one_phase[ 4 ] = { 0x1, 0x2, 0x4, 0x8 };
okano 0:5d0abdf92786 374 unsigned char StepperMotorUni::pattern_two_phase[ 4 ] = { 0x3, 0x6, 0xC, 0x9 };
okano 0:5d0abdf92786 375 unsigned char StepperMotorUni::pattern_halfstep[ 8 ] = { 0x1, 0x3, 0x2, 0x6, 0x4, 0xC, 0x8, 0x9 };
okano 0:5d0abdf92786 376 #endif