Tedd OKANO / Mbed 2 deprecated unipolar_stepper_motor_operation_sample

Very simple operation samples of unipolar stepper motor. This code has been made to help beginners to learn the stepper motor. The history of the code shows the how to generate pulses from very basic level.

Dependencies:   mbed

main.cpp

Committer:
okano
Date:
2014-01-11
Revision:
11:436e74a3ec7a
Parent:
10:f00d0b8775d4

File content as of revision 11:436e74a3ec7a:

//  stepper motor operation sample (learn it step by step).
//  showing how to control a unipolar stepper motor by mbed digital output ports.
//
//  version 8 : motor control by function

#include "mbed.h"

BusOut      motor_out( p26, p25, p24, p23 );

#define     CW  0   //  CLOCKWISE
#define     CCW 1   //  COUNTERCLOCKWISE

void rotate( int steps, float speed, char direction );

int main()
{
    while(1) {
        rotate( 20,  50,  CW );
        rotate( 20,  50, CCW );
        rotate( 40, 100,  CW );
        rotate( 40, 100, CCW );
    }
}

void rotate( int steps, float speed, char direction )
{
    static char pattern[]   = { 0x3, 0x6, 0xC, 0x9 };
    static int  state       = 0;

    for ( int i = 0; i < steps; i++ ) {
        motor_out   = pattern[ state & 0x3 ];
        state      += direction ? -1 : 1;
        wait( 1.0 / speed );
    }
}