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main.ts
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main.ts
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/*
* pxt-stepper- Stepper library for MakeCode - Version 0.0.1
*
* Original library Arduino(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
* High-speed stepping mod by Eugene Kozlenko
* Timer rollover fix by Eugene Kozlenko
* Five phase five wire (1.1.0) by Ryan Orendorff
* Ported to Makecode 0.0.1 by Andres Sabas @ Electronic Cats
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
*
* Drives a unipolar, bipolar, or five phase stepper motor.
*
* 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 for the unipolar and bipolar motors.
*
* 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. Similarly the Arduino motor shields
* 2 direction pins may be used.
*
* The sequence of control signals for 5 phase, 5 control wires is as follows:
*
* Step C0 C1 C2 C3 C4
* 1 0 1 1 0 1
* 2 0 1 0 0 1
* 3 0 1 0 1 1
* 4 0 1 0 1 0
* 5 1 1 0 1 0
* 6 1 0 0 1 0
* 7 1 0 1 1 0
* 8 1 0 1 0 0
* 9 1 0 1 0 1
* 10 0 0 1 0 1
*
* 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
*
*/
//% weight=2 color=#005585 icon="\uf045"
//% blockGap=8
//% groups='["Positional", "Continuous", "Configuration"]'
namespace steppers {
export class Stepper {
_motor_pin_1: DigitalInOutPin;
_motor_pin_2: DigitalInOutPin;
_motor_pin_3: DigitalInOutPin;
_motor_pin_4: DigitalInOutPin;
_motor_pin_5: DigitalInOutPin;
step_number: number;
direction: number;
last_step_time: number;
number_of_steps: number;
pin_count: number;
step_delay: number;
speed: number;
constructor(motor_pin_1: DigitalInOutPin, motor_pin_2: DigitalInOutPin, motor_pin_3: DigitalInOutPin, motor_pin_4: DigitalInOutPin, motor_pin_5: DigitalInOutPin) {
this.step_number = 0;
this.direction = 0;
this.last_step_time = 0;
this.step_delay = 0;
this.number_of_steps = 200;
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;
this._motor_pin_5 = motor_pin_5;
this.speed = 0;
}
/*
* constructor for four-pin version
* Sets which wires should control the motor.
* @param number_of_steps in revs
*/
//% weight=100 help=steppers/steppers
//% blockId=stepperset block="%stepper| set %number_of_steps"
//% number_of_steps.defl=500
//% blockGap=8
//% parts=stepper
//% group="Configuration"
public setStepper(number_of_steps: number) {
this.step_number = 0; // which step the motor is on
this.direction = 0; // motor direction
this.last_step_time = 0; // time stamp in us of the last step taken
this.number_of_steps = number_of_steps; // total number of steps for this motor
// When there are 4 pins, set the others to 0:
this._motor_pin_5.digitalWrite(false);
// pin_count is used by the stepMotor() method:
this.pin_count = 4;
}
/*
* Sets the speed in revs per minute
* @param speed in revs
*/
//% weight=100 help=steppers/setSpeed
//% blockId=stepperspeed block="%stepper set run at %speed "
//% speed.defl=90
//% blockGap=8
//% parts=stepper
//% group="Configuration"
public setSpeed(speed: number) {
this.step_delay = 60 * 1000 * 1000 / this.number_of_steps / speed;
}
/*
* Moves the motor forward or backwards.
* @param thisstep
*/
//% weight=100 help=steppers/stepMotor
//% blockId=steppermove block="%stepper set move %thisstep"
//% thisstep.defl=0
//% blockGap=8
//% parts=stepper trackArgs=0
//% group="Positional"
public stepMotor(thisstep: number): void {
if (this.pin_count == 2) {
switch (thisstep) {
case 0: // 01
this._motor_pin_1.digitalWrite(false);
this._motor_pin_2.digitalWrite(true);
break;
case 1: // 11
this._motor_pin_1.digitalWrite(true);
this._motor_pin_2.digitalWrite(true);
break;
case 2: // 10
this._motor_pin_1.digitalWrite(true);
this._motor_pin_2.digitalWrite(false);
break;
case 3: // 00
this._motor_pin_1.digitalWrite(false);
this._motor_pin_2.digitalWrite(false);
break;
}
}
if (this.pin_count == 4) {
switch (thisstep) {
case 0: // 1010
this._motor_pin_1.digitalWrite(true);
this._motor_pin_2.digitalWrite(false);
this._motor_pin_3.digitalWrite(true);
this._motor_pin_4.digitalWrite(false);
break;
case 1: // 0110
this._motor_pin_1.digitalWrite(false);
this._motor_pin_2.digitalWrite(true);
this._motor_pin_3.digitalWrite(true);
this._motor_pin_4.digitalWrite(false);
break;
case 2: //0101
this._motor_pin_1.digitalWrite(false);
this._motor_pin_2.digitalWrite(true);
this._motor_pin_3.digitalWrite(false);
this._motor_pin_4.digitalWrite(true);
break;
case 3: //1001
this._motor_pin_1.digitalWrite(true);
this._motor_pin_2.digitalWrite(false);
this._motor_pin_3.digitalWrite(false);
this._motor_pin_4.digitalWrite(true);
break;
}
}
if (this.pin_count == 5) {
switch (thisstep) {
case 0: // 01101
this._motor_pin_1.digitalWrite(false);
this._motor_pin_2.digitalWrite(true);
this._motor_pin_3.digitalWrite(true);
this._motor_pin_4.digitalWrite(false);
this._motor_pin_5.digitalWrite(true);
break;
case 1: // 01001
this._motor_pin_1.digitalWrite(false);
this._motor_pin_2.digitalWrite(true);
this._motor_pin_3.digitalWrite(false);
this._motor_pin_4.digitalWrite(false);
this._motor_pin_5.digitalWrite(true);
break;
case 2: // 01011
this._motor_pin_1.digitalWrite(false);
this._motor_pin_2.digitalWrite(true);
this._motor_pin_3.digitalWrite(false);
this._motor_pin_4.digitalWrite(true);
this._motor_pin_5.digitalWrite(true);
break;
case 3: // 01010
this._motor_pin_1.digitalWrite(false);
this._motor_pin_2.digitalWrite(true);
this._motor_pin_3.digitalWrite(false);
this._motor_pin_4.digitalWrite(true);
this._motor_pin_5.digitalWrite(false);
break;
case 4: // 11010
this._motor_pin_1.digitalWrite(true);
this._motor_pin_2.digitalWrite(true);
this._motor_pin_3.digitalWrite(false);
this._motor_pin_4.digitalWrite(true);
this._motor_pin_5.digitalWrite(false);
break;
case 5: // 10010
this._motor_pin_1.digitalWrite(true);
this._motor_pin_2.digitalWrite(false);
this._motor_pin_3.digitalWrite(false);
this._motor_pin_4.digitalWrite(true);
this._motor_pin_5.digitalWrite(false);
break;
case 6: // 10110
this._motor_pin_1.digitalWrite(true);
this._motor_pin_2.digitalWrite(false);
this._motor_pin_3.digitalWrite(true);
this._motor_pin_4.digitalWrite(true);
this._motor_pin_5.digitalWrite(false);
break;
case 7: // 10100
this._motor_pin_1.digitalWrite(true);
this._motor_pin_2.digitalWrite(false);
this._motor_pin_3.digitalWrite(true);
this._motor_pin_4.digitalWrite(false);
this._motor_pin_5.digitalWrite(false);
break;
case 8: // 10101
this._motor_pin_1.digitalWrite(true);
this._motor_pin_2.digitalWrite(false);
this._motor_pin_3.digitalWrite(true);
this._motor_pin_4.digitalWrite(false);
this._motor_pin_5.digitalWrite(true);
break;
case 9: // 00101
this._motor_pin_1.digitalWrite(false);
this._motor_pin_2.digitalWrite(false);
this._motor_pin_3.digitalWrite(true);
this._motor_pin_4.digitalWrite(false);
this._motor_pin_5.digitalWrite(true);
break;
}
}
}
/*
* Moves the motor steps_to_move steps. If the number is negative,
* the motor moves in the reverse direction.
* @param steps_to_move
*/
//% weight=100 help=steppers/step
//% blockId=stepperstep block="%stepper set step %steps_to_move"
//% steps_to_move.defl=0
//% blockGap=8
//% parts=stepper trackArgs=0
//% group="Positional"
public step(steps_to_move: number): void {
let steps_left = Math.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) {
//let now = micros(); TODO
let now = 0;
// move only if the appropriate delay has passed:
if (now - this.last_step_time >= this.step_delay) {
// get the timeStamp of when you stepped:
this.last_step_time = now;
// 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, ..., {3 or 10}
if (this.pin_count == 5)
this.stepMotor(this.step_number % 10);
else
this.stepMotor(this.step_number % 4);
}
}
}
}
}