Author | Pavel Milanes Costa (CO7WT) - pavelmc@gmail.com, copyright © 2014, all rights reserved. |
Adapted-by | |
Compiler | >=2.4q3 |
This library files implement the drive procedures for UNIPOLAR stepper motors This file is the common vars/constants/procs to all stepper unipolar libs This lib supports 3 modes for the operation of stepper motors: This is a schematic representation of the wire naming of this lib
I used a tutorial (in spanish) here http://www.todorobot.com.ar/informacion/tutorial%20stepper/ This is a very good source also http://www.cs.uiowa.edu/~jones/step/ thanks vasi vasi A lib on jallib (in unreleased state) at the end of the development by Richard Zengerink dating back to 2010 give me some new ideas, thanks to all who put his knowledge in the public domain.
var word stepper_delay = 0
const word _STEPPER_SPEED = STEPPER_STEPS_1TURN * STEPPER_RPM
var bit stepper_wave = off
var word smooth_pulses = 0
const byte STEPPER_POS[8] = {8,12,4,6,2,3,1,9}
var bit stepper_half = off
var byte _stepper_state = 0
var word stepper_delay = 0
How much time we need to stabilize the magnet on one position this is a delay expressed in miliseconds after each movement of the motor; This is the length of the pulse.
const word _STEPPER_SPEED = STEPPER_STEPS_1TURN * STEPPER_RPM
This calculation must be done ride away or the compiler make a kaput!!! & RIP this is the calculated speed of the motor (how many pulses per minute)
var bit stepper_wave = off
by default is normal mode
var word smooth_pulses = 0
No documentation found
const byte STEPPER_POS[8] = {8,12,4,6,2,3,1,9}
this array is the secuence of motion used en the 3 modes.
var bit stepper_half = off
modes of operation, by deaful user normal mode
var byte _stepper_state = 0
state of the motor, is a pointer to the array index
stepper_off()
motor shut off, leave it run free
stepper_step()
calculate the next step in the given direction from the actual state and mode