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- 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
- /*
- 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 "Arduino.h"
- // https://community.sparkdevices.com/t/fix-for-include-arduino-h/953
- #define ARDUINO_H
- #include <stdint.h>
- #include <stddef.h>
- #include <stdlib.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);
- // digitalWrite(motor_pin_1, HIGH);
- // digitalWrite(motor_pin_2, LOW);
- // digitalWrite(motor_pin_3, LOW);
- // digitalWrite(motor_pin_4, HIGH);
- digitalWrite(motor_pin_1, HIGH);
- digitalWrite(motor_pin_2, LOW);
- digitalWrite(motor_pin_3, LOW);
- 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);
- // digitalWrite(motor_pin_1, LOW);
- // digitalWrite(motor_pin_2, HIGH);
- // digitalWrite(motor_pin_3, LOW);
- // digitalWrite(motor_pin_4, HIGH);
- digitalWrite(motor_pin_1, LOW);
- digitalWrite(motor_pin_2, HIGH);
- digitalWrite(motor_pin_3, LOW);
- 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);
- // digitalWrite(motor_pin_1, LOW);
- // digitalWrite(motor_pin_2, HIGH);
- // digitalWrite(motor_pin_3, HIGH);
- // digitalWrite(motor_pin_4, LOW);
- digitalWrite(motor_pin_1, LOW);
- digitalWrite(motor_pin_2, LOW);
- digitalWrite(motor_pin_3, HIGH);
- digitalWrite(motor_pin_4, LOW);
- break;
- case 3: //1001
- // digitalWrite(motor_pin_1, HIGH);
- // digitalWrite(motor_pin_2, LOW);
- // digitalWrite(motor_pin_3, LOW);
- // digitalWrite(motor_pin_4, HIGH);
- // digitalWrite(motor_pin_1, HIGH);
- // digitalWrite(motor_pin_2, LOW);
- // digitalWrite(motor_pin_3, HIGH);
- // digitalWrite(motor_pin_4, LOW);
- digitalWrite(motor_pin_1, LOW);
- 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;
- }
- /*
- * 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, D2, D3, D4, D5);
- // the previous reading from the analog input
- int previous = 0;
- void setup()
- {
- // set the speed of the motor to 30 RPMs
- stepper.setSpeed(100);
- Spark.function("step", step2);
- Serial.begin(9600);
- }
- void loop()
- {
- // get the sensor value
- // int val = analogRead(A0);
- // 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;
- }
- int step2(String command) {
- command.trim();
- command.toUpperCase();
- Serial.println("Data received");
- Serial.print('\n');
- Serial.println(command);
- if(command.equals("LOCK")) {
- stepper.step(-375);
- Serial.println("Locking...");
- Spark.sleep(SLEEP_MODE_DEEP,20);
- } else if(command.equals("UNLOCK")) {
- Spark.sleep(20);
- stepper.step(375);
- Serial.println("Unlocking...");
- }
- }
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