Tedd OKANO / StepperMotorUni

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Dependents:   LAB04_Oppgave1 test_stepper Stepper_Motor_Demo StepperMotorUni_Hello ... more

StepperMotorUni.cpp@6:007d0570ba4f, 2017-09-13 (annotated)

Committer:
okano
Date:
Wed Sep 13 03:55:30 2017 +0000
Revision:
6:007d0570ba4f
Parent:
5:93f9ce526f38
Child:
7:7e6fb609780a
fix for keeping stop position

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 6:007d0570ba4f 291 if ( power_ctrl )
okano 6:007d0570ba4f 292 motor_out = 0;
okano 6:007d0570ba4f 293
okano 0:5d0abdf92786 294 moved_steps = 0;
okano 0:5d0abdf92786 295 return;
okano 0:5d0abdf92786 296 }
okano 0:5d0abdf92786 297
okano 0:5d0abdf92786 298 if ( !moved_steps ) { // ramp control
okano 0:5d0abdf92786 299 speed_rate = ramp_init_speed_rate;
okano 0:5d0abdf92786 300 ramp_steps = ((ramp_control_steps * 2) - distance) / 2;
okano 0:5d0abdf92786 301 ramp_steps = (0 < ramp_steps) ? ramp_control_steps - ramp_steps : ramp_control_steps;
okano 0:5d0abdf92786 302 // printf( "ramp_steps=%d, speed_rate=%f\r\n", ramp_steps, speed_rate );
okano 0:5d0abdf92786 303 // printf( "diff=%d, speed_rate=%f\r\n", diff, speed_rate );
okano 0:5d0abdf92786 304 } else if ( moved_steps < ramp_steps ) {
okano 0:5d0abdf92786 305 speed_rate /= ramp_rate;
okano 0:5d0abdf92786 306 } else if ( distance <= ramp_steps ) {
okano 0:5d0abdf92786 307 speed_rate *= ramp_rate;
okano 0:5d0abdf92786 308 } else {
okano 0:5d0abdf92786 309 speed_rate = 1.0;
okano 0:5d0abdf92786 310 }
okano 0:5d0abdf92786 311
okano 0:5d0abdf92786 312 moved_steps++;
okano 0:5d0abdf92786 313 current_pos = current_pos + ( (target_pos < current_pos) ? -1 : 1 );
okano 0:5d0abdf92786 314
okano 0:5d0abdf92786 315 motor_out = pattern[ (current_pos + pos_offset) & pat_index_mask ];
okano 0:5d0abdf92786 316
okano 0:5d0abdf92786 317 //printf( "%d>>>%d\r\n", current_pos, target_pos );
okano 0:5d0abdf92786 318
okano 0:5d0abdf92786 319 if ( speed_rate != 1.0 ) {
okano 2:6835e719ff96 320 t.detach();
okano 2:6835e719ff96 321 t.attach( this, &StepperMotorUni::motor_maintain, ((1.0 / (float)pps)) / speed_rate );
okano 0:5d0abdf92786 322 }
okano 0:5d0abdf92786 323
okano 0:5d0abdf92786 324 if ( target_pos == current_pos ) {
okano 0:5d0abdf92786 325 current_pos = current_pos % max_pos;
okano 0:5d0abdf92786 326 target_pos = target_pos % max_pos;
okano 0:5d0abdf92786 327 moved_steps = 0;
okano 0:5d0abdf92786 328 }
okano 0:5d0abdf92786 329 };
okano 0:5d0abdf92786 330
okano 4:6909efe4c8ac 331 int StepperMotorUni::go_position( int target_pos )
okano 4:6909efe4c8ac 332 {
okano 0:5d0abdf92786 333
okano 0:5d0abdf92786 334 current_pos = current_pos % max_pos;
okano 0:5d0abdf92786 335 current_pos = (current_pos < 0) ? current_pos + max_pos : current_pos;
okano 0:5d0abdf92786 336
okano 0:5d0abdf92786 337 target_pos = target_pos % max_pos;
okano 0:5d0abdf92786 338 target_pos = (target_pos < 0) ? target_pos + max_pos : target_pos;
okano 0:5d0abdf92786 339
okano 0:5d0abdf92786 340 #define CW 0
okano 0:5d0abdf92786 341 #define CCW 1
okano 0:5d0abdf92786 342
okano 0:5d0abdf92786 343 int direction;
okano 0:5d0abdf92786 344
okano 0:5d0abdf92786 345 switch ( rot_mode ) {
okano 0:5d0abdf92786 346 case NO_WRAPAROUND :
okano 0:5d0abdf92786 347 direction = (current_pos < target_pos) ? CW : CCW;
okano 0:5d0abdf92786 348 break;
okano 0:5d0abdf92786 349 case CLOCKWISE_ONLY :
okano 0:5d0abdf92786 350 direction = CW;
okano 0:5d0abdf92786 351 break;
okano 0:5d0abdf92786 352 case COUNTER_CLOCKWISE_ONLY :
okano 0:5d0abdf92786 353 direction = CCW;
okano 0:5d0abdf92786 354 break;
okano 0:5d0abdf92786 355 default : // SHORTEST :
okano 0:5d0abdf92786 356 direction = ( (max_pos >> 1) < ((target_pos + max_pos - current_pos) % max_pos) ) ? CCW : CW;
okano 0:5d0abdf92786 357 break;
okano 0:5d0abdf92786 358 }
okano 0:5d0abdf92786 359
okano 0:5d0abdf92786 360 switch ( direction ) {
okano 0:5d0abdf92786 361 case CW :
okano 0:5d0abdf92786 362 current_pos = (target_pos < current_pos) ? current_pos - max_pos : current_pos;
okano 0:5d0abdf92786 363 break;
okano 0:5d0abdf92786 364 case CCW :
okano 0:5d0abdf92786 365 target_pos = (current_pos < target_pos) ? target_pos - max_pos : target_pos;
okano 0:5d0abdf92786 366 break;
okano 0:5d0abdf92786 367 }
okano 0:5d0abdf92786 368
okano 0:5d0abdf92786 369 set_target_pos( target_pos );
okano 0:5d0abdf92786 370 return ( current_pos );
okano 0:5d0abdf92786 371 }
okano 0:5d0abdf92786 372
okano 0:5d0abdf92786 373 #if 0
okano 0:5d0abdf92786 374 unsigned char StepperMotorUni::pattern_one_phase[ 4 ] = { 0x8, 0x4, 0x2, 0x1 };
okano 0:5d0abdf92786 375 unsigned char StepperMotorUni::pattern_two_phase[ 4 ] = { 0x9, 0xC, 0x6, 0x3 };
okano 0:5d0abdf92786 376 unsigned char StepperMotorUni::pattern_halfstep[ 8 ] = { 0x9, 0x8, 0xC, 0x4, 0x6, 0x2, 0x3, 0x1 };
okano 0:5d0abdf92786 377 #else
okano 0:5d0abdf92786 378 unsigned char StepperMotorUni::pattern_one_phase[ 4 ] = { 0x1, 0x2, 0x4, 0x8 };
okano 0:5d0abdf92786 379 unsigned char StepperMotorUni::pattern_two_phase[ 4 ] = { 0x3, 0x6, 0xC, 0x9 };
okano 0:5d0abdf92786 380 unsigned char StepperMotorUni::pattern_halfstep[ 8 ] = { 0x1, 0x3, 0x2, 0x6, 0x4, 0xC, 0x8, 0x9 };
okano 0:5d0abdf92786 381 #endif