stepper_unipolar_nonblocking

Library to manage unipolar stepper motors with non blocking delays

Author Pavel Milanes Costa (CO7WT) - pavelmc@gmail.com, copyright © 2014, all rights reserved.
Adapted-by original design for jallib
Compiler >=2.4q3

Description

This library implement the drive procedures for UNIPOLAR stepper motors
See stepper_unipolar_common.jal for modes explanations


Sources

I used this tutorial in spanish here http://www.todorobot.com.ar/informacion/tutorial%20stepper/
This is a good source also http://www.cs.uiowa.edu/~jones/step/ thanks vasi vasi for the link.


Notes

* You must define the kind of mode you will use AFTER include the lib, if not it will use normal.
* You have to know & declare the sweet spot frecuency/RPM of your motor, but... you can guess.
* You can change the mode on the fly, but need to send a stepper_init() each time after that.
* Creation date/time: 4 Nov 2014 04:28:50.UTC
* This file is maintained by hand!!!


Dependencies


Summary

Global variables/contants

Procedures

Private

Functions


API details

Global variables/contants

Procedures

  • isr_proc()

    interrupt procedure, must capture de interrupt and
    preload the tmr0 to the calculated value to account for the 1khz isr
    has to count interrupt to match stepper_delay to adjust the RPM and
    command to move.
    

  • stepper_init()

    init procedure for the non blocking version
    

Private
  • _int_setup()

    procedure to calculate, setup and start the interrupt routine on tmr0
    


Functions


Related samples

Here are the list of samples which use this library:

16f63016f630_stepper_unipolar_nonblocking.jal