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make it work with drv8825 driver

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Stepan Usatiuk
2019-05-28 15:04:30 +03:00
parent 8ec0c1f108
commit 3ce647b2ab
3 changed files with 17 additions and 139 deletions
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139
Firmware/MotorControl/src/Stepper.cpp
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@@ -1,142 +1,23 @@
#include "Stepper.h"
#include <Arduino.h>
void Stepper::clockwise() {
switch (curStep) {
case 1:
digitalWrite(pin4, HIGH);
digitalWrite(pin3, LOW);
digitalWrite(pin2, LOW);
digitalWrite(pin1, LOW);
break;
case 2:
digitalWrite(pin4, HIGH);
digitalWrite(pin3, HIGH);
digitalWrite(pin2, LOW);
digitalWrite(pin1, LOW);
break;
case 3:
digitalWrite(pin4, LOW);
digitalWrite(pin3, HIGH);
digitalWrite(pin2, LOW);
digitalWrite(pin1, LOW);
break;
case 4:
digitalWrite(pin4, LOW);
digitalWrite(pin3, HIGH);
digitalWrite(pin2, HIGH);
digitalWrite(pin1, LOW);
break;
case 5:
digitalWrite(pin4, LOW);
digitalWrite(pin3, LOW);
digitalWrite(pin2, HIGH);
digitalWrite(pin1, LOW);
break;
case 6:
digitalWrite(pin4, LOW);
digitalWrite(pin3, LOW);
digitalWrite(pin2, HIGH);
digitalWrite(pin1, HIGH);
break;
case 7:
digitalWrite(pin4, LOW);
digitalWrite(pin3, LOW);
digitalWrite(pin2, LOW);
digitalWrite(pin1, HIGH);
break;
case 8:
digitalWrite(pin4, HIGH);
digitalWrite(pin3, LOW);
digitalWrite(pin2, LOW);
digitalWrite(pin1, HIGH);
}
if (curStep == 8) {
curStep = 1;
} else {
curStep++;
}
}
void Stepper::counterClockwise() {
switch (curStep) {
case 1:
digitalWrite(pin1, HIGH);
digitalWrite(pin2, LOW);
digitalWrite(pin3, LOW);
digitalWrite(pin4, LOW);
break;
case 2:
digitalWrite(pin1, HIGH);
digitalWrite(pin2, HIGH);
digitalWrite(pin3, LOW);
digitalWrite(pin4, LOW);
break;
case 3:
digitalWrite(pin1, LOW);
digitalWrite(pin2, HIGH);
digitalWrite(pin3, LOW);
digitalWrite(pin4, LOW);
break;
case 4:
digitalWrite(pin1, LOW);
digitalWrite(pin2, HIGH);
digitalWrite(pin3, HIGH);
digitalWrite(pin4, LOW);
break;
case 5:
digitalWrite(pin1, LOW);
digitalWrite(pin2, LOW);
digitalWrite(pin3, HIGH);
digitalWrite(pin4, LOW);
break;
case 6:
digitalWrite(pin1, LOW);
digitalWrite(pin2, LOW);
digitalWrite(pin3, HIGH);
digitalWrite(pin4, HIGH);
break;
case 7:
digitalWrite(pin1, LOW);
digitalWrite(pin2, LOW);
digitalWrite(pin3, LOW);
digitalWrite(pin4, HIGH);
break;
case 8:
digitalWrite(pin1, HIGH);
digitalWrite(pin2, LOW);
digitalWrite(pin3, LOW);
digitalWrite(pin4, HIGH);
}
if (curStep == 8) {
curStep = 1;
} else {
curStep++;
}
}
Stepper::Stepper(int pin1, int pin2, int pin3, int pin4, int stepsPerRevolution,
int limit, float degreesPerMM)
: pin1(pin1),
pin2(pin2),
pin3(pin3),
pin4(pin4),
Stepper::Stepper(int stepPin, int dirPin,
int stepsPerRevolution, int limit, float degreesPerMM)
: dirPin(dirPin),
stepPin(stepPin),
stepsPerRevolution(stepsPerRevolution),
limit(limit),
degreesPerMM(degreesPerMM) {
pinMode(pin1, OUTPUT);
pinMode(pin2, OUTPUT);
pinMode(pin3, OUTPUT);
pinMode(pin4, OUTPUT);
pinMode(dirPin, OUTPUT);
pinMode(stepPin, OUTPUT);
}
void Stepper::doStep() {
if (remainingSteps > 0) {
if (direction) {
clockwise();
} else {
counterClockwise();
}
digitalWrite(dirPin, direction);
digitalWrite(stepPin, 1);
delayMicroseconds(2);
digitalWrite(stepPin, 0);
remainingSteps--;
}
}