Motor niet achteruit
jelle641 opened this issue · 2 comments
jelle641 commented
Motor draait maar 1 kant op
jelle641 commented
/*
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
Add Half Step mode (0.5) by D Traynor
Drives a unipolar or bipolar stepper motor using 2 wires or 4 wires
The sequence for full step of control signals for 4 control wires is as follows:
# Modified from the original 1010, 0110, 0101, 1001 - since my motor would not reverse
Step C0 C1 C2 C3
1 0 0 1 1
2 1 0 0 1
3 1 1 0 0
4 0 1 1 0
The sequence for halfstep for 4 control wires is as follows:
# Added this 8 step sequence for halfstep control (v0.5)
Step C0 C1 C2 C3
1 1 0 0 1
2 1 0 0 0
3 1 1 0 0
4 0 1 0 0
5 0 1 1 0
6 0 0 1 0
7 0 0 1 1
8 0 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"
#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, int mod_count)
{
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
this->mod_count = 4; // default number of steps in a sequence (v0.5)
// 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);
// modulo count is the No of control steps in a motor STEP sequence (v0.5)
this->mod_count = mod_count;
// 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 at FULL step
* Sets which wires should control the motor.
* New parameter 'mod_count' to cater for halfstep sequence (v0.5)
*/
Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2, int motor_pin_3, int motor_pin_4, int mod_count)
{
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
this->mod_count = 4; // default number of steps FULL STEP = 4 whilst HALF STEP = 8 (v0.5)
// 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;
// modulo count is the No of control steps in a motor STEP
this->mod_count = mod_count;
// 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
Added a safeguard minimum delay of 2mS, may vary for other motors
*/
void Stepper::setSpeed(long whatSpeed)
{
this->step_delay = 60L * 1000L / this->number_of_steps / whatSpeed;
if (this->step_delay < 2) {
this->step_delay = 2; // if the delay is too small then the motor will stall (v0.5)
}
}
/*
Moves the motor steps_to_move steps. If the number is negative,
the motor moves in the reverse direction.
Had to change the step sequence to get my motor [28BYJ-48] to reverse in full step (v0.5)
*/
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:
// or 4,5,6,7 for HALFSTEP mode (v0.5)
stepMotor(this->step_number % this->mod_count);
}
}
}
/*
* Moves the motor forward or backwards.
*/
void Stepper::stepMotor(int thisStep)
{
if (this->pin_count == 2) { // 3 parts of the IF are mutually exclusive -> hence the addition of the ELSE
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;
}
} else if (this->pin_count == 4 && this->mod_count == 4) { // (v0.5) allows distinction between full and half step
switch (thisStep) {
case 0: // 0011
digitalWrite(motor_pin_1, LOW);
digitalWrite(motor_pin_2, LOW);
digitalWrite(motor_pin_3, HIGH);
digitalWrite(motor_pin_4, HIGH);
break;
case 1: // 1001
digitalWrite(motor_pin_1, HIGH);
digitalWrite(motor_pin_2, LOW);
digitalWrite(motor_pin_3, LOW);
digitalWrite(motor_pin_4, HIGH);
break;
case 2: // 1100
digitalWrite(motor_pin_1, HIGH);
digitalWrite(motor_pin_2, HIGH);
digitalWrite(motor_pin_3, LOW);
digitalWrite(motor_pin_4, LOW);
break;
case 3: // 0110
digitalWrite(motor_pin_1, LOW);
digitalWrite(motor_pin_2, HIGH);
digitalWrite(motor_pin_3, HIGH);
digitalWrite(motor_pin_4, LOW);
break;
}
} else if (this->pin_count == 4 && this->mod_count == 8) { //(v0.5)
switch (thisStep) {
case 0: //1001
digitalWrite(motor_pin_1, HIGH);
digitalWrite(motor_pin_2, LOW);
digitalWrite(motor_pin_3, LOW);
digitalWrite(motor_pin_4, HIGH);
break;
case 1: //1000
digitalWrite(motor_pin_1, HIGH);
digitalWrite(motor_pin_2, LOW);
digitalWrite(motor_pin_3, LOW);
digitalWrite(motor_pin_4, LOW);
break;
case 2: //1100
digitalWrite(motor_pin_1, HIGH);
digitalWrite(motor_pin_2, HIGH);
digitalWrite(motor_pin_3, LOW);
digitalWrite(motor_pin_4, LOW);
break;
case 3: //0100
digitalWrite(motor_pin_1, LOW);
digitalWrite(motor_pin_2, HIGH);
digitalWrite(motor_pin_3, LOW);
digitalWrite(motor_pin_4, LOW);
break;
case 4: //0110
digitalWrite(motor_pin_1, LOW);
digitalWrite(motor_pin_2, HIGH);
digitalWrite(motor_pin_3, HIGH);
digitalWrite(motor_pin_4, LOW);
break;
case 5: //0010
digitalWrite(motor_pin_1, LOW);
digitalWrite(motor_pin_2, LOW);
digitalWrite(motor_pin_3, HIGH);
digitalWrite(motor_pin_4, LOW);
break;
case 6: //0011
digitalWrite(motor_pin_1, LOW);
digitalWrite(motor_pin_2, LOW);
digitalWrite(motor_pin_3, HIGH);
digitalWrite(motor_pin_4, HIGH);
break;
case 7: //0001
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 5;
}^Dat allemaal kopieren naar de library en dan zou het als het goed is wel lukken