Tedd OKANO / StepperMotorUni

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Dependents:   LAB04_Oppgave1 test_stepper Stepper_Motor_Demo StepperMotorUni_Hello ... more

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