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@5:93f9ce526f38, 2015-04-27 (annotated)

Committer:
okano
Date:
Mon Apr 27 01:16:51 2015 +0000
Revision:
5:93f9ce526f38
Parent:
4:6909efe4c8ac
Child:
6:007d0570ba4f
fixed: init_done behavior

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 5:93f9ce526f38 5 * @version 1.1.2
okano 5:93f9ce526f38 6 * @date 27-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 5:93f9ce526f38 41 * version 1.1.2 (27-Apr-2015) // fixed: init_done behavior
okano 0:5d0abdf92786 42 */
okano 0:5d0abdf92786 43
okano 0:5d0abdf92786 44 #include "mbed.h"
okano 0:5d0abdf92786 45 #include "StepperMotorUni.h"
okano 0:5d0abdf92786 46
okano 0:5d0abdf92786 47 StepperMotorUni::StepperMotorUni(
okano 0:5d0abdf92786 48 PinName out_A,
okano 0:5d0abdf92786 49 PinName out_B,
okano 0:5d0abdf92786 50 PinName out_C,
okano 0:5d0abdf92786 51 PinName out_D,
okano 0:5d0abdf92786 52 PinName position_detect
okano 0:5d0abdf92786 53 ) :
okano 5:93f9ce526f38 54 init_done( false ),
okano 4:6909efe4c8ac 55 motor_out( out_A, out_B, out_C, out_D ),
okano 4:6909efe4c8ac 56 position_detect_pin( position_detect ),
okano 4:6909efe4c8ac 57 rot_mode( SHORTEST ),
okano 4:6909efe4c8ac 58 sync_mode( ASYNCHRONOUS ),
okano 4:6909efe4c8ac 59 max_pos( 480 ),
okano 4:6909efe4c8ac 60 current_pos( 0 ),
okano 4:6909efe4c8ac 61 pos_offset( 0 ),
okano 4:6909efe4c8ac 62 target_pos( 0 ),
okano 4:6909efe4c8ac 63 max_pps( MAX_PPS ),
okano 4:6909efe4c8ac 64 pause( false ),
okano 4:6909efe4c8ac 65 power_ctrl( false ),
okano 4:6909efe4c8ac 66 ramp_init_speed_rate( 1.0 ),
okano 4:6909efe4c8ac 67 ramp_control_steps( 0 ),
okano 4:6909efe4c8ac 68 ramp_rate( 1.0 )
okano 4:6909efe4c8ac 69 {
okano 0:5d0abdf92786 70
okano 0:5d0abdf92786 71 pps = max_pps;
okano 0:5d0abdf92786 72 pattern = (unsigned char *)pattern_one_phase;
okano 0:5d0abdf92786 73 pat_index_mask = 0x3;
okano 0:5d0abdf92786 74 t.attach( this, &StepperMotorUni::motor_maintain, 1.0 / (float)pps );
okano 0:5d0abdf92786 75 }
okano 0:5d0abdf92786 76
okano 4:6909efe4c8ac 77 float StepperMotorUni::set_pps( float v )
okano 4:6909efe4c8ac 78 {
okano 0:5d0abdf92786 79 float p;
okano 0:5d0abdf92786 80
okano 0:5d0abdf92786 81 p = pps;
okano 0:5d0abdf92786 82 pps = v;
okano 0:5d0abdf92786 83 t.detach();
okano 0:5d0abdf92786 84 t.attach( this, &StepperMotorUni::motor_maintain, 1.0 / (float)pps );
okano 0:5d0abdf92786 85 return ( p );
okano 0:5d0abdf92786 86 }
okano 0:5d0abdf92786 87
okano 4:6909efe4c8ac 88 void StepperMotorUni::set_max_pps( float v )
okano 4:6909efe4c8ac 89 {
okano 0:5d0abdf92786 90 max_pps = v;
okano 0:5d0abdf92786 91 }
okano 0:5d0abdf92786 92
okano 4:6909efe4c8ac 93 int StepperMotorUni::find_home_position( PositionDetectPorarity edge )
okano 4:6909efe4c8ac 94 {
okano 0:5d0abdf92786 95 RotMode prev_rot;
okano 0:5d0abdf92786 96 SyncMode prev_sync;
okano 0:5d0abdf92786 97 float prev_pps;
okano 4:6909efe4c8ac 98 float prev_i_rate;
okano 4:6909efe4c8ac 99 int prev_rcs;
okano 0:5d0abdf92786 100 int prev_det_pin;
okano 0:5d0abdf92786 101 int direction;
okano 0:5d0abdf92786 102
okano 0:5d0abdf92786 103 if ( position_detect_pin == NC )
okano 0:5d0abdf92786 104 return 0;
okano 0:5d0abdf92786 105
okano 0:5d0abdf92786 106 prev_pps = set_pps( max_pps );
okano 4:6909efe4c8ac 107 prev_i_rate = ramp_init_speed_rate;
okano 4:6909efe4c8ac 108 prev_rcs = ramp_control_steps;
okano 0:5d0abdf92786 109 prev_rot = rot_mode;
okano 0:5d0abdf92786 110 prev_sync = sync_mode;
okano 0:5d0abdf92786 111 set_sync_mode( SYNCHRONOUS );
okano 0:5d0abdf92786 112 set_rot_mode( SHORTEST );
okano 0:5d0abdf92786 113
okano 4:6909efe4c8ac 114 prev_det_pin = position_detect_pin;
okano 4:6909efe4c8ac 115 set_ramp_control( 1.0, 0 );
okano 0:5d0abdf92786 116
okano 0:5d0abdf92786 117 if ( prev_rot == COUNTER_CLOCKWISE_ONLY )
okano 0:5d0abdf92786 118 direction = -1;
okano 0:5d0abdf92786 119 else
okano 0:5d0abdf92786 120 direction = 1;
okano 0:5d0abdf92786 121
okano 5:93f9ce526f38 122 init_done = false;
okano 5:93f9ce526f38 123
okano 0:5d0abdf92786 124 if ( prev_rot == NO_WRAPAROUND ) {
okano 0:5d0abdf92786 125
okano 0:5d0abdf92786 126 for ( int i = 0; i < (max_pos >> 1); i++ ) {
okano 0:5d0abdf92786 127 move_steps( -1 );
okano 0:5d0abdf92786 128 if ( ((edge == RISING_EDGE) && !prev_det_pin && position_detect_pin)
okano 0:5d0abdf92786 129 || ((edge == FALLING_EDGE) && prev_det_pin && !position_detect_pin) ) {
okano 0:5d0abdf92786 130 set_home_position();
okano 0:5d0abdf92786 131 init_done = true;
okano 0:5d0abdf92786 132 break;
okano 0:5d0abdf92786 133 }
okano 0:5d0abdf92786 134 prev_det_pin = position_detect_pin;
okano 0:5d0abdf92786 135 }
okano 0:5d0abdf92786 136 }
okano 0:5d0abdf92786 137
okano 0:5d0abdf92786 138 for ( int i = 0; i < ((prev_rot == NO_WRAPAROUND) ? (max_pos - 1) : (max_pos + 10)); i++ ) {
okano 0:5d0abdf92786 139 move_steps( direction );
okano 0:5d0abdf92786 140 if ( ((edge == RISING_EDGE) && !prev_det_pin && position_detect_pin)
okano 0:5d0abdf92786 141 || ((edge == FALLING_EDGE) && prev_det_pin && !position_detect_pin) ) {
okano 0:5d0abdf92786 142 set_home_position();
okano 0:5d0abdf92786 143 init_done = true;
okano 0:5d0abdf92786 144 break;
okano 0:5d0abdf92786 145 }
okano 0:5d0abdf92786 146 prev_det_pin = position_detect_pin;
okano 0:5d0abdf92786 147 }
okano 0:5d0abdf92786 148
okano 0:5d0abdf92786 149 go_position( 0 );
okano 0:5d0abdf92786 150 set_pps( prev_pps );
okano 0:5d0abdf92786 151 set_rot_mode( prev_rot );
okano 0:5d0abdf92786 152 set_sync_mode( prev_sync );
okano 4:6909efe4c8ac 153 set_ramp_control( prev_i_rate, prev_rcs );
okano 0:5d0abdf92786 154
okano 0:5d0abdf92786 155 return ( init_done );
okano 0:5d0abdf92786 156 }
okano 0:5d0abdf92786 157
okano 4:6909efe4c8ac 158 void StepperMotorUni::set_home_position( void )
okano 4:6909efe4c8ac 159 {
okano 0:5d0abdf92786 160 set_pause( true );
okano 0:5d0abdf92786 161 pos_offset = current_pos & 0x3;
okano 0:5d0abdf92786 162 current_pos = 0;
okano 0:5d0abdf92786 163 set_target_pos( 0 );
okano 0:5d0abdf92786 164 set_pause( false );
okano 0:5d0abdf92786 165 }
okano 0:5d0abdf92786 166
okano 0:5d0abdf92786 167
okano 4:6909efe4c8ac 168 void StepperMotorUni::go_angle( float angle )
okano 4:6909efe4c8ac 169 {
okano 0:5d0abdf92786 170 go_position( (int)((angle / 360.0) * (float)max_pos) );
okano 0:5d0abdf92786 171 }
okano 0:5d0abdf92786 172
okano 4:6909efe4c8ac 173 int StepperMotorUni::move_steps( int s )
okano 4:6909efe4c8ac 174 {
okano 0:5d0abdf92786 175 set_target_pos( current_pos + s );
okano 0:5d0abdf92786 176 return ( current_pos );
okano 0:5d0abdf92786 177 }
okano 0:5d0abdf92786 178
okano 4:6909efe4c8ac 179 int StepperMotorUni::move_rotates( float r )
okano 4:6909efe4c8ac 180 {
okano 0:5d0abdf92786 181 set_target_pos( current_pos + (int)(r * (float)max_pos) );
okano 0:5d0abdf92786 182 return ( current_pos );
okano 0:5d0abdf92786 183 }
okano 0:5d0abdf92786 184
okano 4:6909efe4c8ac 185 void StepperMotorUni::set_operation_phase_mode( OperationPhaseMode v )
okano 4:6909efe4c8ac 186 {
okano 0:5d0abdf92786 187
okano 0:5d0abdf92786 188 switch ( v ) {
okano 0:5d0abdf92786 189 case StepperMotorUni::ONE_PHASE :
okano 0:5d0abdf92786 190 pattern = pattern_one_phase;
okano 0:5d0abdf92786 191 pat_index_mask = 0x3;
okano 0:5d0abdf92786 192 break;
okano 0:5d0abdf92786 193 case StepperMotorUni::TWO_PHASE :
okano 0:5d0abdf92786 194 pattern = pattern_two_phase;
okano 0:5d0abdf92786 195 pat_index_mask = 0x3;
okano 0:5d0abdf92786 196 break;
okano 0:5d0abdf92786 197 case StepperMotorUni::HALFSTEP :
okano 0:5d0abdf92786 198 pattern = pattern_halfstep;
okano 0:5d0abdf92786 199 pat_index_mask = 0x7;
okano 0:5d0abdf92786 200 break;
okano 0:5d0abdf92786 201 }
okano 0:5d0abdf92786 202
okano 0:5d0abdf92786 203 phase_mode = v;
okano 0:5d0abdf92786 204 }
okano 0:5d0abdf92786 205
okano 4:6909efe4c8ac 206 void StepperMotorUni::set_rot_mode( RotMode m )
okano 4:6909efe4c8ac 207 {
okano 0:5d0abdf92786 208 rot_mode = m;
okano 0:5d0abdf92786 209 }
okano 0:5d0abdf92786 210
okano 4:6909efe4c8ac 211 void StepperMotorUni::set_sync_mode( SyncMode m )
okano 4:6909efe4c8ac 212 {
okano 0:5d0abdf92786 213 sync_mode = m;
okano 0:5d0abdf92786 214 }
okano 0:5d0abdf92786 215
okano 4:6909efe4c8ac 216 int StepperMotorUni::distance( void )
okano 4:6909efe4c8ac 217 {
okano 0:5d0abdf92786 218 return( target_pos - current_pos );
okano 0:5d0abdf92786 219 }
okano 0:5d0abdf92786 220
okano 4:6909efe4c8ac 221 void StepperMotorUni::set_pause( int sw )
okano 4:6909efe4c8ac 222 {
okano 0:5d0abdf92786 223 pause = sw;
okano 0:5d0abdf92786 224 }
okano 0:5d0abdf92786 225
okano 4:6909efe4c8ac 226 void StepperMotorUni::brake( void )
okano 4:6909efe4c8ac 227 {
okano 0:5d0abdf92786 228 brake( SOFT_BRAKE );
okano 0:5d0abdf92786 229 }
okano 0:5d0abdf92786 230
okano 4:6909efe4c8ac 231 void StepperMotorUni::brake( BrakeMode mode )
okano 4:6909efe4c8ac 232 {
okano 0:5d0abdf92786 233 int extra_steps;
okano 0:5d0abdf92786 234
okano 0:5d0abdf92786 235 if ( mode == SOFT_BRAKE ) {
okano 0:5d0abdf92786 236 extra_steps = abs( target_pos - current_pos );
okano 0:5d0abdf92786 237 extra_steps = extra_steps < ramp_control_steps ? extra_steps : ramp_control_steps;
okano 0:5d0abdf92786 238 extra_steps = target_pos < current_pos ? -extra_steps : extra_steps;
okano 0:5d0abdf92786 239 } else {
okano 0:5d0abdf92786 240 extra_steps = 0;
okano 0:5d0abdf92786 241 }
okano 0:5d0abdf92786 242
okano 0:5d0abdf92786 243 target_pos = current_pos + extra_steps;
okano 0:5d0abdf92786 244 }
okano 0:5d0abdf92786 245
okano 4:6909efe4c8ac 246 void StepperMotorUni::set_target_pos( int p )
okano 4:6909efe4c8ac 247 {
okano 0:5d0abdf92786 248 target_pos = p;
okano 0:5d0abdf92786 249
okano 0:5d0abdf92786 250 if (sync_mode == SYNCHRONOUS)
okano 0:5d0abdf92786 251 while ( distance() )
okano 0:5d0abdf92786 252 wait( 0 );
okano 0:5d0abdf92786 253 }
okano 0:5d0abdf92786 254
okano 4:6909efe4c8ac 255 void StepperMotorUni::set_power_ctrl( int sw )
okano 4:6909efe4c8ac 256 {
okano 0:5d0abdf92786 257 power_ctrl = sw;
okano 0:5d0abdf92786 258 }
okano 0:5d0abdf92786 259
okano 4:6909efe4c8ac 260 void StepperMotorUni::set_steps_per_rotate( int steps )
okano 4:6909efe4c8ac 261 {
okano 0:5d0abdf92786 262 max_pos = steps;
okano 0:5d0abdf92786 263 }
okano 0:5d0abdf92786 264
okano 4:6909efe4c8ac 265 void StepperMotorUni::set_ramp_control( float initial_speed_rate, int ramp_steps )
okano 4:6909efe4c8ac 266 {
okano 0:5d0abdf92786 267 ramp_init_speed_rate = initial_speed_rate;
okano 0:5d0abdf92786 268 ramp_control_steps = ramp_steps;
okano 4:6909efe4c8ac 269
okano 4:6909efe4c8ac 270 if ( ramp_steps == 0 )
okano 4:6909efe4c8ac 271 ramp_rate = 1.0;
okano 4:6909efe4c8ac 272 else {
okano 4:6909efe4c8ac 273 ramp_rate = powf( ramp_init_speed_rate, 1.0 / (float)ramp_control_steps );
okano 4:6909efe4c8ac 274 }
okano 0:5d0abdf92786 275 }
okano 0:5d0abdf92786 276
okano 4:6909efe4c8ac 277 void StepperMotorUni::motor_maintain( void )
okano 4:6909efe4c8ac 278 {
okano 0:5d0abdf92786 279 int distance;
okano 0:5d0abdf92786 280 static int moved_steps = 0;
okano 0:5d0abdf92786 281 static int ramp_steps = 0;
okano 0:5d0abdf92786 282 static float speed_rate = 1.0;
okano 0:5d0abdf92786 283
okano 0:5d0abdf92786 284 if ( pause )
okano 0:5d0abdf92786 285 return;
okano 0:5d0abdf92786 286
okano 0:5d0abdf92786 287 distance = target_pos - current_pos;
okano 0:5d0abdf92786 288 distance = (distance < 0)? -distance : distance;
okano 0:5d0abdf92786 289
okano 0:5d0abdf92786 290 if ( !distance ) {
okano 0:5d0abdf92786 291 motor_out = power_ctrl ? 0 : 1;
okano 0:5d0abdf92786 292 moved_steps = 0;
okano 0:5d0abdf92786 293 return;
okano 0:5d0abdf92786 294 }
okano 0:5d0abdf92786 295
okano 0:5d0abdf92786 296 if ( !moved_steps ) { // ramp control
okano 0:5d0abdf92786 297 speed_rate = ramp_init_speed_rate;
okano 0:5d0abdf92786 298 ramp_steps = ((ramp_control_steps * 2) - distance) / 2;
okano 0:5d0abdf92786 299 ramp_steps = (0 < ramp_steps) ? ramp_control_steps - ramp_steps : ramp_control_steps;
okano 0:5d0abdf92786 300 // printf( "ramp_steps=%d, speed_rate=%f\r\n", ramp_steps, speed_rate );
okano 0:5d0abdf92786 301 // printf( "diff=%d, speed_rate=%f\r\n", diff, speed_rate );
okano 0:5d0abdf92786 302 } else if ( moved_steps < ramp_steps ) {
okano 0:5d0abdf92786 303 speed_rate /= ramp_rate;
okano 0:5d0abdf92786 304 } else if ( distance <= ramp_steps ) {
okano 0:5d0abdf92786 305 speed_rate *= ramp_rate;
okano 0:5d0abdf92786 306 } else {
okano 0:5d0abdf92786 307 speed_rate = 1.0;
okano 0:5d0abdf92786 308 }
okano 0:5d0abdf92786 309
okano 0:5d0abdf92786 310 moved_steps++;
okano 0:5d0abdf92786 311 current_pos = current_pos + ( (target_pos < current_pos) ? -1 : 1 );
okano 0:5d0abdf92786 312
okano 0:5d0abdf92786 313 motor_out = pattern[ (current_pos + pos_offset) & pat_index_mask ];
okano 0:5d0abdf92786 314
okano 0:5d0abdf92786 315 //printf( "%d>>>%d\r\n", current_pos, target_pos );
okano 0:5d0abdf92786 316
okano 0:5d0abdf92786 317 if ( speed_rate != 1.0 ) {
okano 2:6835e719ff96 318 t.detach();
okano 2:6835e719ff96 319 t.attach( this, &StepperMotorUni::motor_maintain, ((1.0 / (float)pps)) / speed_rate );
okano 0:5d0abdf92786 320 }
okano 0:5d0abdf92786 321
okano 0:5d0abdf92786 322 if ( target_pos == current_pos ) {
okano 0:5d0abdf92786 323 current_pos = current_pos % max_pos;
okano 0:5d0abdf92786 324 target_pos = target_pos % max_pos;
okano 0:5d0abdf92786 325 moved_steps = 0;
okano 0:5d0abdf92786 326 }
okano 0:5d0abdf92786 327 };
okano 0:5d0abdf92786 328
okano 4:6909efe4c8ac 329 int StepperMotorUni::go_position( int target_pos )
okano 4:6909efe4c8ac 330 {
okano 0:5d0abdf92786 331
okano 0:5d0abdf92786 332 current_pos = current_pos % max_pos;
okano 0:5d0abdf92786 333 current_pos = (current_pos < 0) ? current_pos + max_pos : current_pos;
okano 0:5d0abdf92786 334
okano 0:5d0abdf92786 335 target_pos = target_pos % max_pos;
okano 0:5d0abdf92786 336 target_pos = (target_pos < 0) ? target_pos + max_pos : target_pos;
okano 0:5d0abdf92786 337
okano 0:5d0abdf92786 338 #define CW 0
okano 0:5d0abdf92786 339 #define CCW 1
okano 0:5d0abdf92786 340
okano 0:5d0abdf92786 341 int direction;
okano 0:5d0abdf92786 342
okano 0:5d0abdf92786 343 switch ( rot_mode ) {
okano 0:5d0abdf92786 344 case NO_WRAPAROUND :
okano 0:5d0abdf92786 345 direction = (current_pos < target_pos) ? CW : CCW;
okano 0:5d0abdf92786 346 break;
okano 0:5d0abdf92786 347 case CLOCKWISE_ONLY :
okano 0:5d0abdf92786 348 direction = CW;
okano 0:5d0abdf92786 349 break;
okano 0:5d0abdf92786 350 case COUNTER_CLOCKWISE_ONLY :
okano 0:5d0abdf92786 351 direction = CCW;
okano 0:5d0abdf92786 352 break;
okano 0:5d0abdf92786 353 default : // SHORTEST :
okano 0:5d0abdf92786 354 direction = ( (max_pos >> 1) < ((target_pos + max_pos - current_pos) % max_pos) ) ? CCW : CW;
okano 0:5d0abdf92786 355 break;
okano 0:5d0abdf92786 356 }
okano 0:5d0abdf92786 357
okano 0:5d0abdf92786 358 switch ( direction ) {
okano 0:5d0abdf92786 359 case CW :
okano 0:5d0abdf92786 360 current_pos = (target_pos < current_pos) ? current_pos - max_pos : current_pos;
okano 0:5d0abdf92786 361 break;
okano 0:5d0abdf92786 362 case CCW :
okano 0:5d0abdf92786 363 target_pos = (current_pos < target_pos) ? target_pos - max_pos : target_pos;
okano 0:5d0abdf92786 364 break;
okano 0:5d0abdf92786 365 }
okano 0:5d0abdf92786 366
okano 0:5d0abdf92786 367 set_target_pos( target_pos );
okano 0:5d0abdf92786 368 return ( current_pos );
okano 0:5d0abdf92786 369 }
okano 0:5d0abdf92786 370
okano 0:5d0abdf92786 371 #if 0
okano 0:5d0abdf92786 372 unsigned char StepperMotorUni::pattern_one_phase[ 4 ] = { 0x8, 0x4, 0x2, 0x1 };
okano 0:5d0abdf92786 373 unsigned char StepperMotorUni::pattern_two_phase[ 4 ] = { 0x9, 0xC, 0x6, 0x3 };
okano 0:5d0abdf92786 374 unsigned char StepperMotorUni::pattern_halfstep[ 8 ] = { 0x9, 0x8, 0xC, 0x4, 0x6, 0x2, 0x3, 0x1 };
okano 0:5d0abdf92786 375 #else
okano 0:5d0abdf92786 376 unsigned char StepperMotorUni::pattern_one_phase[ 4 ] = { 0x1, 0x2, 0x4, 0x8 };
okano 0:5d0abdf92786 377 unsigned char StepperMotorUni::pattern_two_phase[ 4 ] = { 0x3, 0x6, 0xC, 0x9 };
okano 0:5d0abdf92786 378 unsigned char StepperMotorUni::pattern_halfstep[ 8 ] = { 0x1, 0x3, 0x2, 0x6, 0x4, 0xC, 0x8, 0x9 };
okano 0:5d0abdf92786 379 #endif