diff options
Diffstat (limited to 'libraries/Stepper')
| -rw-r--r-- | libraries/Stepper/Stepper.cpp | 220 | ||||
| -rw-r--r-- | libraries/Stepper/Stepper.h | 83 | ||||
| -rw-r--r-- | libraries/Stepper/examples/MotorKnob/MotorKnob.pde | 41 | ||||
| -rw-r--r-- | libraries/Stepper/examples/stepper_oneRevolution/stepper_oneRevolution.pde | 44 | ||||
| -rw-r--r-- | libraries/Stepper/examples/stepper_oneStepAtATime/stepper_oneStepAtATime.pde | 44 | ||||
| -rw-r--r-- | libraries/Stepper/examples/stepper_speedControl/stepper_speedControl.pde | 49 | ||||
| -rw-r--r-- | libraries/Stepper/keywords.txt | 28 |
7 files changed, 509 insertions, 0 deletions
diff --git a/libraries/Stepper/Stepper.cpp b/libraries/Stepper/Stepper.cpp new file mode 100644 index 0000000..d5fa129 --- /dev/null +++ b/libraries/Stepper/Stepper.cpp @@ -0,0 +1,220 @@ +/*
+ Stepper.cpp - - Stepper library for Wiring/Arduino - Version 0.4
+
+ Original library (0.1) by Tom Igoe.
+ Two-wire modifications (0.2) by Sebastian Gassner
+ Combination version (0.3) by Tom Igoe and David Mellis
+ Bug fix for four-wire (0.4) by Tom Igoe, bug fix from Noah Shibley
+
+ Drives a unipolar or bipolar stepper motor using 2 wires or 4 wires
+
+ When wiring multiple stepper motors to a microcontroller,
+ you quickly run out of output pins, with each motor requiring 4 connections.
+
+ By making use of the fact that at any time two of the four motor
+ coils are the inverse of the other two, the number of
+ control connections can be reduced from 4 to 2.
+
+ A slightly modified circuit around a Darlington transistor array or an L293 H-bridge
+ connects to only 2 microcontroler pins, inverts the signals received,
+ and delivers the 4 (2 plus 2 inverted ones) output signals required
+ for driving a stepper motor.
+
+ The sequence of control signals for 4 control wires is as follows:
+
+ Step C0 C1 C2 C3
+ 1 1 0 1 0
+ 2 0 1 1 0
+ 3 0 1 0 1
+ 4 1 0 0 1
+
+ The sequence of controls signals for 2 control wires is as follows
+ (columns C1 and C2 from above):
+
+ Step C0 C1
+ 1 0 1
+ 2 1 1
+ 3 1 0
+ 4 0 0
+
+ The circuits can be found at
+
+http://www.arduino.cc/en/Tutorial/Stepper
+
+
+ */
+
+
+#include "WProgram.h"
+#include "Stepper.h"
+
+/*
+ * two-wire constructor.
+ * Sets which wires should control the motor.
+ */
+Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2)
+{
+ this->step_number = 0; // which step the motor is on
+ this->speed = 0; // the motor speed, in revolutions per minute
+ this->direction = 0; // motor direction
+ this->last_step_time = 0; // time stamp in ms of the last step taken
+ this->number_of_steps = number_of_steps; // total number of steps for this motor
+
+ // Arduino pins for the motor control connection:
+ this->motor_pin_1 = motor_pin_1;
+ this->motor_pin_2 = motor_pin_2;
+
+ // setup the pins on the microcontroller:
+ pinMode(this->motor_pin_1, OUTPUT);
+ pinMode(this->motor_pin_2, OUTPUT);
+
+ // When there are only 2 pins, set the other two to 0:
+ this->motor_pin_3 = 0;
+ this->motor_pin_4 = 0;
+
+ // pin_count is used by the stepMotor() method:
+ this->pin_count = 2;
+}
+
+
+/*
+ * constructor for four-pin version
+ * Sets which wires should control the motor.
+ */
+
+Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2, int motor_pin_3, int motor_pin_4)
+{
+ this->step_number = 0; // which step the motor is on
+ this->speed = 0; // the motor speed, in revolutions per minute
+ this->direction = 0; // motor direction
+ this->last_step_time = 0; // time stamp in ms of the last step taken
+ this->number_of_steps = number_of_steps; // total number of steps for this motor
+
+ // Arduino pins for the motor control connection:
+ this->motor_pin_1 = motor_pin_1;
+ this->motor_pin_2 = motor_pin_2;
+ this->motor_pin_3 = motor_pin_3;
+ this->motor_pin_4 = motor_pin_4;
+
+ // setup the pins on the microcontroller:
+ pinMode(this->motor_pin_1, OUTPUT);
+ pinMode(this->motor_pin_2, OUTPUT);
+ pinMode(this->motor_pin_3, OUTPUT);
+ pinMode(this->motor_pin_4, OUTPUT);
+
+ // pin_count is used by the stepMotor() method:
+ this->pin_count = 4;
+}
+
+/*
+ Sets the speed in revs per minute
+
+*/
+void Stepper::setSpeed(long whatSpeed)
+{
+ this->step_delay = 60L * 1000L / this->number_of_steps / whatSpeed;
+}
+
+/*
+ Moves the motor steps_to_move steps. If the number is negative,
+ the motor moves in the reverse direction.
+ */
+void Stepper::step(int steps_to_move)
+{
+ int steps_left = abs(steps_to_move); // how many steps to take
+
+ // determine direction based on whether steps_to_mode is + or -:
+ if (steps_to_move > 0) {this->direction = 1;}
+ if (steps_to_move < 0) {this->direction = 0;}
+
+
+ // decrement the number of steps, moving one step each time:
+ while(steps_left > 0) {
+ // move only if the appropriate delay has passed:
+ if (millis() - this->last_step_time >= this->step_delay) {
+ // get the timeStamp of when you stepped:
+ this->last_step_time = millis();
+ // increment or decrement the step number,
+ // depending on direction:
+ if (this->direction == 1) {
+ this->step_number++;
+ if (this->step_number == this->number_of_steps) {
+ this->step_number = 0;
+ }
+ }
+ else {
+ if (this->step_number == 0) {
+ this->step_number = this->number_of_steps;
+ }
+ this->step_number--;
+ }
+ // decrement the steps left:
+ steps_left--;
+ // step the motor to step number 0, 1, 2, or 3:
+ stepMotor(this->step_number % 4);
+ }
+ }
+}
+
+/*
+ * Moves the motor forward or backwards.
+ */
+void Stepper::stepMotor(int thisStep)
+{
+ if (this->pin_count == 2) {
+ switch (thisStep) {
+ case 0: /* 01 */
+ digitalWrite(motor_pin_1, LOW);
+ digitalWrite(motor_pin_2, HIGH);
+ break;
+ case 1: /* 11 */
+ digitalWrite(motor_pin_1, HIGH);
+ digitalWrite(motor_pin_2, HIGH);
+ break;
+ case 2: /* 10 */
+ digitalWrite(motor_pin_1, HIGH);
+ digitalWrite(motor_pin_2, LOW);
+ break;
+ case 3: /* 00 */
+ digitalWrite(motor_pin_1, LOW);
+ digitalWrite(motor_pin_2, LOW);
+ break;
+ }
+ }
+ if (this->pin_count == 4) {
+ switch (thisStep) {
+ case 0: // 1010
+ digitalWrite(motor_pin_1, HIGH);
+ digitalWrite(motor_pin_2, LOW);
+ digitalWrite(motor_pin_3, HIGH);
+ digitalWrite(motor_pin_4, LOW);
+ break;
+ case 1: // 0110
+ digitalWrite(motor_pin_1, LOW);
+ digitalWrite(motor_pin_2, HIGH);
+ digitalWrite(motor_pin_3, HIGH);
+ digitalWrite(motor_pin_4, LOW);
+ break;
+ case 2: //0101
+ digitalWrite(motor_pin_1, LOW);
+ digitalWrite(motor_pin_2, HIGH);
+ digitalWrite(motor_pin_3, LOW);
+ digitalWrite(motor_pin_4, HIGH);
+ break;
+ case 3: //1001
+ digitalWrite(motor_pin_1, HIGH);
+ digitalWrite(motor_pin_2, LOW);
+ digitalWrite(motor_pin_3, LOW);
+ digitalWrite(motor_pin_4, HIGH);
+ break;
+ }
+ }
+}
+
+/*
+ version() returns the version of the library:
+*/
+int Stepper::version(void)
+{
+ return 4;
+}
diff --git a/libraries/Stepper/Stepper.h b/libraries/Stepper/Stepper.h new file mode 100644 index 0000000..dc7e64b --- /dev/null +++ b/libraries/Stepper/Stepper.h @@ -0,0 +1,83 @@ +/*
+ Stepper.h - - Stepper library for Wiring/Arduino - Version 0.4
+
+ Original library (0.1) by Tom Igoe.
+ Two-wire modifications (0.2) by Sebastian Gassner
+ Combination version (0.3) by Tom Igoe and David Mellis
+ Bug fix for four-wire (0.4) by Tom Igoe, bug fix from Noah Shibley
+
+ Drives a unipolar or bipolar stepper motor using 2 wires or 4 wires
+
+ When wiring multiple stepper motors to a microcontroller,
+ you quickly run out of output pins, with each motor requiring 4 connections.
+
+ By making use of the fact that at any time two of the four motor
+ coils are the inverse of the other two, the number of
+ control connections can be reduced from 4 to 2.
+
+ A slightly modified circuit around a Darlington transistor array or an L293 H-bridge
+ connects to only 2 microcontroler pins, inverts the signals received,
+ and delivers the 4 (2 plus 2 inverted ones) output signals required
+ for driving a stepper motor.
+
+ The sequence of control signals for 4 control wires is as follows:
+
+ Step C0 C1 C2 C3
+ 1 1 0 1 0
+ 2 0 1 1 0
+ 3 0 1 0 1
+ 4 1 0 0 1
+
+ The sequence of controls signals for 2 control wires is as follows
+ (columns C1 and C2 from above):
+
+ Step C0 C1
+ 1 0 1
+ 2 1 1
+ 3 1 0
+ 4 0 0
+
+ The circuits can be found at
+ http://www.arduino.cc/en/Tutorial/Stepper
+*/
+
+// ensure this library description is only included once
+#ifndef Stepper_h
+#define Stepper_h
+
+// library interface description
+class Stepper {
+ public:
+ // constructors:
+ Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2);
+ Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2, int motor_pin_3, int motor_pin_4);
+
+ // speed setter method:
+ void setSpeed(long whatSpeed);
+
+ // mover method:
+ void step(int number_of_steps);
+
+ int version(void);
+
+ private:
+ void stepMotor(int this_step);
+
+ int direction; // Direction of rotation
+ int speed; // Speed in RPMs
+ unsigned long step_delay; // delay between steps, in ms, based on speed
+ int number_of_steps; // total number of steps this motor can take
+ int pin_count; // whether you're driving the motor with 2 or 4 pins
+ int step_number; // which step the motor is on
+
+ // motor pin numbers:
+ int motor_pin_1;
+ int motor_pin_2;
+ int motor_pin_3;
+ int motor_pin_4;
+
+ long last_step_time; // time stamp in ms of when the last step was taken
+};
+
+#endif
+
diff --git a/libraries/Stepper/examples/MotorKnob/MotorKnob.pde b/libraries/Stepper/examples/MotorKnob/MotorKnob.pde new file mode 100644 index 0000000..f4d63e1 --- /dev/null +++ b/libraries/Stepper/examples/MotorKnob/MotorKnob.pde @@ -0,0 +1,41 @@ +/*
+ * MotorKnob
+ *
+ * A stepper motor follows the turns of a potentiometer
+ * (or other sensor) on analog input 0.
+ *
+ * http://www.arduino.cc/en/Reference/Stepper
+ * This example code is in the public domain.
+ */
+
+#include <Stepper.h>
+
+// change this to the number of steps on your motor
+#define STEPS 100
+
+// create an instance of the stepper class, specifying
+// the number of steps of the motor and the pins it's
+// attached to
+Stepper stepper(STEPS, 8, 9, 10, 11);
+
+// the previous reading from the analog input
+int previous = 0;
+
+void setup()
+{
+ // set the speed of the motor to 30 RPMs
+ stepper.setSpeed(30);
+}
+
+void loop()
+{
+ // get the sensor value
+ int val = analogRead(0);
+
+ // move a number of steps equal to the change in the
+ // sensor reading
+ stepper.step(val - previous);
+
+ // remember the previous value of the sensor
+ previous = val;
+}
\ No newline at end of file diff --git a/libraries/Stepper/examples/stepper_oneRevolution/stepper_oneRevolution.pde b/libraries/Stepper/examples/stepper_oneRevolution/stepper_oneRevolution.pde new file mode 100644 index 0000000..b3e9602 --- /dev/null +++ b/libraries/Stepper/examples/stepper_oneRevolution/stepper_oneRevolution.pde @@ -0,0 +1,44 @@ +
+/*
+ Stepper Motor Control - one revolution
+
+ This program drives a unipolar or bipolar stepper motor.
+ The motor is attached to digital pins 8 - 11 of the Arduino.
+
+ The motor should revolve one revolution in one direction, then
+ one revolution in the other direction.
+
+
+ Created 11 Mar. 2007
+ Modified 30 Nov. 2009
+ by Tom Igoe
+
+ */
+
+#include <Stepper.h>
+
+const int stepsPerRevolution = 200; // change this to fit the number of steps per revolution
+ // for your motor
+
+// initialize the stepper library on pins 8 through 11:
+Stepper myStepper(stepsPerRevolution, 8,9,10,11);
+
+void setup() {
+ // set the speed at 60 rpm:
+ myStepper.setSpeed(60);
+ // initialize the serial port:
+ Serial.begin(9600);
+}
+
+void loop() {
+ // step one revolution in one direction:
+ Serial.println("clockwise");
+ myStepper.step(stepsPerRevolution);
+ delay(500);
+
+ // step one revolution in the other direction:
+ Serial.println("counterclockwise");
+ myStepper.step(-stepsPerRevolution);
+ delay(500);
+}
+
diff --git a/libraries/Stepper/examples/stepper_oneStepAtATime/stepper_oneStepAtATime.pde b/libraries/Stepper/examples/stepper_oneStepAtATime/stepper_oneStepAtATime.pde new file mode 100644 index 0000000..45f5a5a --- /dev/null +++ b/libraries/Stepper/examples/stepper_oneStepAtATime/stepper_oneStepAtATime.pde @@ -0,0 +1,44 @@ +
+/*
+ Stepper Motor Control - one step at a time
+
+ This program drives a unipolar or bipolar stepper motor.
+ The motor is attached to digital pins 8 - 11 of the Arduino.
+
+ The motor will step one step at a time, very slowly. You can use this to
+ test that you've got the four wires of your stepper wired to the correct
+ pins. If wired correctly, all steps should be in the same direction.
+
+ Use this also to count the number of steps per revolution of your motor,
+ if you don't know it. Then plug that number into the oneRevolution
+ example to see if you got it right.
+
+ Created 30 Nov. 2009
+ by Tom Igoe
+
+ */
+
+#include <Stepper.h>
+
+const int stepsPerRevolution = 200; // change this to fit the number of steps per revolution
+ // for your motor
+
+// initialize the stepper library on pins 8 through 11:
+Stepper myStepper(stepsPerRevolution, 8,9,10,11);
+
+int stepCount = 0; // number of steps the motor has taken
+
+void setup() {
+ // initialize the serial port:
+ Serial.begin(9600);
+}
+
+void loop() {
+ // step one step:
+ myStepper.step(1);
+ Serial.print("steps:" );
+ Serial.println(stepCount);
+ stepCount++;
+ delay(500);
+}
+
diff --git a/libraries/Stepper/examples/stepper_speedControl/stepper_speedControl.pde b/libraries/Stepper/examples/stepper_speedControl/stepper_speedControl.pde new file mode 100644 index 0000000..7df2757 --- /dev/null +++ b/libraries/Stepper/examples/stepper_speedControl/stepper_speedControl.pde @@ -0,0 +1,49 @@ +
+/*
+ Stepper Motor Control - speed control
+
+ This program drives a unipolar or bipolar stepper motor.
+ The motor is attached to digital pins 8 - 11 of the Arduino.
+ A potentiometer is connected to analog input 0.
+
+ The motor will rotate in a clockwise direction. The higher the potentiometer value,
+ the faster the motor speed. Because setSpeed() sets the delay between steps,
+ you may notice the motor is less responsive to changes in the sensor value at
+ low speeds.
+
+ Created 30 Nov. 2009
+ Modified 28 Oct 2010
+ by Tom Igoe
+
+ */
+
+#include <Stepper.h>
+
+const int stepsPerRevolution = 200; // change this to fit the number of steps per revolution
+// for your motor
+
+
+// initialize the stepper library on pins 8 through 11:
+Stepper myStepper(stepsPerRevolution, 8,9,10,11);
+
+int stepCount = 0; // number of steps the motor has taken
+
+void setup() {
+ // initialize the serial port:
+ Serial.begin(9600);
+}
+
+void loop() {
+ // read the sensor value:
+ int sensorReading = analogRead(A0);
+ // map it to a range from 0 to 100:
+ int motorSpeed = map(sensorReading, 0, 1023, 0, 100);
+ // set the motor speed:
+ if (motorSpeed > 0) {
+ myStepper.setSpeed(motorSpeed);
+ // step 1/100 of a revolution:
+ myStepper.step(stepsPerRevolution/100);
+ }
+}
+
+
diff --git a/libraries/Stepper/keywords.txt b/libraries/Stepper/keywords.txt new file mode 100644 index 0000000..7c726f1 --- /dev/null +++ b/libraries/Stepper/keywords.txt @@ -0,0 +1,28 @@ +#######################################
+# Syntax Coloring Map For Test
+#######################################
+
+#######################################
+# Datatypes (KEYWORD1)
+#######################################
+
+Stepper KEYWORD1
+
+#######################################
+# Methods and Functions (KEYWORD2)
+#######################################
+
+step KEYWORD2
+setSpeed KEYWORD2
+version KEYWORD2
+
+######################################
+# Instances (KEYWORD2)
+#######################################
+direction KEYWORD2
+speed KEYWORD2
+
+
+#######################################
+# Constants (LITERAL1)
+#######################################
|