128 lines
4.0 KiB
C++
128 lines
4.0 KiB
C++
/* CheapStepper.h -
|
|
v0.2
|
|
Library for the 28BYJ-48 stepper motor, using ULN2003 driver board
|
|
https://arduino-info.wikispaces.com/SmallSteppers
|
|
|
|
Library written by Tyler Henry, 6/2016
|
|
|
|
uses 8-step sequence: A-AB-B-BC-C-CD-D-DA
|
|
|
|
motor has gear ratio of either:
|
|
64:1 (per manufacturer specs)
|
|
or
|
|
63.68395:1 measured
|
|
(see: http://forum.arduino.cc/index.php?topic=71964.15)
|
|
* 64 steps per internal motor rev
|
|
=
|
|
|
|
4096 total mini-steps / revolution
|
|
or ~4076 (4075.7728) depending on exact gear ratio
|
|
|
|
assumes 5v power source for rpm calc
|
|
*/
|
|
|
|
#ifndef CHEAPSTEPPER_H
|
|
#define CHEAPSTEPPER_H
|
|
|
|
#include "Arduino.h"
|
|
|
|
class CheapStepper
|
|
{
|
|
|
|
public:
|
|
CheapStepper();
|
|
CheapStepper (int in1, int in2, int in3, int in4);
|
|
|
|
void setRpm (int rpm); // sets speed (10-24 rpm, hi-low torque)
|
|
// <6 rpm blocked in code, may overheat
|
|
// 23-24rpm may skip
|
|
|
|
void set4076StepMode() { totalSteps = 4076; }
|
|
void setTotalSteps (int numSteps) { totalSteps = numSteps; }
|
|
// allows custom # of steps (usually 4076)
|
|
|
|
// blocking! (pauses arduino until move is done)
|
|
void move (bool clockwise, int numSteps); // 4096 steps = 1 revolution
|
|
void moveTo (bool clockwise, int toStep); // move to specific step position
|
|
void moveDegrees (bool clockwise, int deg);
|
|
void moveToDegree (bool clockwise, int deg);
|
|
|
|
void moveCW (int numSteps) { move (true, numSteps); }
|
|
void moveCCW (int numSteps) { move (false, numSteps); }
|
|
void moveToCW (int toStep) { moveTo (true, toStep); }
|
|
void moveToCCW (int toStep) { moveTo (false, toStep); }
|
|
void moveDegreesCW (int deg) { moveDegrees (true, deg); }
|
|
void moveDegreesCCW (int deg) { moveDegrees (false, deg); }
|
|
void moveToDegreeCW (int deg) { moveToDegree (true, deg); }
|
|
void moveToDegreeCCW (int deg) { moveToDegree (false, deg); }
|
|
|
|
|
|
// non-blocking versions of move()
|
|
// call run() in loop to keep moving
|
|
|
|
void newMove (bool clockwise, int numSteps);
|
|
void newMoveTo (bool clockwise, int toStep);
|
|
void newMoveDegrees (bool clockwise, int deg);
|
|
void newMoveToDegree (bool clockwise, int deg);
|
|
|
|
void run();
|
|
void stop();
|
|
|
|
void newMoveCW(int numSteps) { newMove(true, numSteps); }
|
|
void newMoveCCW(int numSteps) { newMove(false, numSteps); }
|
|
void newMoveToCW(int toStep) { newMoveTo(true, toStep); }
|
|
void newMoveToCCW(int toStep) { newMoveTo(false, toStep); }
|
|
void newMoveDegreesCW(int deg) { newMoveDegrees(true, deg); }
|
|
void newMoveDegreesCCW(int deg) { newMoveDegrees(false, deg); }
|
|
void newMoveToDegreeCW(int deg) { newMoveToDegree(true, deg); }
|
|
void newMoveToDegreeCCW(int deg) { newMoveToDegree(false, deg); }
|
|
|
|
|
|
|
|
void step (bool clockwise);
|
|
// move 1 step clockwise or counter-clockwise
|
|
|
|
void stepCW () { step (true); } // move 1 step clockwise
|
|
void stepCCW () { step (false); } // move 1 step counter-clockwise
|
|
|
|
int getStep() { return stepN; } // returns current miniStep position
|
|
int getDelay() { return delay; } // returns current delay (microseconds)
|
|
int getRpm() { return calcRpm(); } // returns current rpm
|
|
int getPin(int p) {
|
|
if (p<4) return pins[p]; // returns pin #
|
|
return 0; // default 0
|
|
}
|
|
int getStepsLeft() { return stepsLeft; } // returns steps left in current move
|
|
|
|
private:
|
|
|
|
int calcDelay(int rpm); // calcs microsecond step delay for given rpm
|
|
int calcRpm(int _delay); // calcs rpm for given delay in microseconds
|
|
int calcRpm(){
|
|
return calcRpm(delay); // calcs rpm from current delay
|
|
}
|
|
|
|
void seqCW();
|
|
void seqCCW();
|
|
void seq(int seqNum); // send specific sequence num to driver
|
|
|
|
int pins[4] = {8,9,10,11}; // in1, in2, in3, in4
|
|
|
|
int stepN = 0; // keeps track of step position
|
|
// 0-4095 (4096 mini-steps / revolution) or maybe 4076...
|
|
int totalSteps = 4096;
|
|
|
|
int delay = 900; // microsecond delay between steps
|
|
// 900 ~= 16.25 rpm
|
|
// low speed (high torque) = 1465 ~= 1 rpm
|
|
// high speed (low torque) = 600 ~= 24 rpm
|
|
|
|
int seqN = -1; // keeps track of sequence number
|
|
|
|
// variables for non-blocking moves:
|
|
unsigned long lastStepTime; // time in microseconds that last step happened
|
|
int stepsLeft = 0; // steps left to move, neg for counter-clockwise
|
|
|
|
};
|
|
|
|
#endif |