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Support generic drivers for Stepper library #4257

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3540590
Support generic drivers for Stepper library
skniazev Dec 5, 2015
c046a3f
PROGMEM approach
skniazev Dec 7, 2015
9f55a75
unsigned char approach
skniazev Dec 7, 2015
a6e3b3c
Prevent division by zero in method setSpeed
skniazev Dec 9, 2015
a9278c5
Optimization of method initMotor()
skniazev Dec 9, 2015
0a4ea58
Revert "Prevent division by zero in method setSpeed"
skniazev Dec 17, 2015
8ed5d41
Change of pin numbering
skniazev Dec 17, 2015
4c173e3
Right-aligned patterns instead of left-aligned
skniazev Dec 17, 2015
388460f
Change number_of_steps and step_number to unsigned
skniazev Dec 19, 2015
5b947dc
Revert implementation of motor delay in method step
skniazev Dec 19, 2015
c1442a5
Generic constructors without zero parameters
skniazev Dec 19, 2015
de42af9
Removal of pin_count from generic constructors' interface
skniazev Dec 19, 2015
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Change of pin numbering 
renumber the pin number argument names, e.g. start at motor_pin_0, to
prevent confusing between the argument names and the array positions
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@skniazev
skniazev committed Dec 17, 2015
commit 8ed5d414b589b4f4c2cd44368cf21949179ec119
52 changes: 26 additions & 26 deletions libraries/Stepper/src/Stepper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -88,49 +88,49 @@
* two-wire constructor.
* Sets which wires should control the motor.
*/
Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2)
Stepper::Stepper(int number_of_steps, int motor_pin_0, int motor_pin_1)
{
initMotor(number_of_steps, motor_pin_1, motor_pin_2,
initMotor(number_of_steps, motor_pin_0, motor_pin_1,
0, 0, 0, (unsigned char*)phasesMatrix2, 2, 4);
}

/*
* 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)
Stepper::Stepper(int number_of_steps, int motor_pin_0, int motor_pin_1,
int motor_pin_2, int motor_pin_3)
{
initMotor(number_of_steps, motor_pin_1, motor_pin_2,
motor_pin_3, motor_pin_4,
initMotor(number_of_steps, motor_pin_0, motor_pin_1,
motor_pin_2, motor_pin_3,
0, (unsigned char*)phasesMatrix4, 4, 4);
}

/*
* constructor for five phase motor with five wires
* 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,
int motor_pin_5)
Stepper::Stepper(int number_of_steps, int motor_pin_0, int motor_pin_1,
int motor_pin_2, int motor_pin_3,
int motor_pin_4)
{
initMotor(number_of_steps, motor_pin_1, motor_pin_2,
motor_pin_3, motor_pin_4,
motor_pin_5, (unsigned char*)phasesMatrix5, 5, 10);
initMotor(number_of_steps, motor_pin_0, motor_pin_1,
motor_pin_2, motor_pin_3,
motor_pin_4, (unsigned char*)phasesMatrix5, 5, 10);
}

/*
* universal constructor for motors with maximum five wires
* Sets which wires should control the motor, pointer to the phases matrix, number of pins and phases.
*/
Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
int motor_pin_3, int motor_pin_4,
int motor_pin_5, unsigned char *phasesMatrix,
Stepper::Stepper(int number_of_steps, int motor_pin_0, int motor_pin_1,
int motor_pin_2, int motor_pin_3,
int motor_pin_4, unsigned char *phasesMatrix,
int pin_count, int phase_count)
{
initMotor(number_of_steps, motor_pin_1, motor_pin_2,
motor_pin_3, motor_pin_4,
motor_pin_5, phasesMatrix,
initMotor(number_of_steps, motor_pin_0, motor_pin_1,
motor_pin_2, motor_pin_3,
motor_pin_4, phasesMatrix,
pin_count, phase_count);
}

Expand Down Expand Up @@ -192,9 +192,9 @@ void Stepper::stepMotor(unsigned char thisPhase)
/*
* Initialize the motor
*/
void Stepper::initMotor(int number_of_steps, unsigned char motor_pin_1, unsigned char motor_pin_2,
unsigned char motor_pin_3, unsigned char motor_pin_4,
unsigned char motor_pin_5, unsigned char *phasesMatrix,
void Stepper::initMotor(int number_of_steps, unsigned char motor_pin_0, unsigned char motor_pin_1,
unsigned char motor_pin_2, unsigned char motor_pin_3,
unsigned char motor_pin_4, unsigned char *phasesMatrix,
unsigned char pin_count, unsigned char phase_count)
{
this->step_number = 0; // which step the motor is on
Expand All @@ -206,11 +206,11 @@ void Stepper::initMotor(int number_of_steps, unsigned char motor_pin_1, unsign
this->phase_count = phase_count;
// phasesMatrix is used by the stepMotor() method:
this->phasesMatrix = phasesMatrix;
this->motor_pin[0] = motor_pin_1;
this->motor_pin[1] = motor_pin_2;
this->motor_pin[2] = motor_pin_3;
this->motor_pin[3] = motor_pin_4;
this->motor_pin[4] = motor_pin_5;
this->motor_pin[0] = motor_pin_0;
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;
for (unsigned char i = 0; i < this->pin_count; i++){
pinMode(this->motor_pin[i], OUTPUT); // setup the pins on the microcontroller
}
Expand Down
24 changes: 12 additions & 12 deletions libraries/Stepper/src/Stepper.h
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Original file line number Diff line number Diff line change
Expand Up @@ -121,15 +121,15 @@
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);
Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
int motor_pin_3, int motor_pin_4,
int motor_pin_5);
Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
int motor_pin_3, int motor_pin_4,
int motor_pin_5, unsigned char *phasesMatrix,
Stepper(int number_of_steps, int motor_pin_0, int motor_pin_1);
Stepper(int number_of_steps, int motor_pin_0, int motor_pin_1,
int motor_pin_2, int motor_pin_3);
Stepper(int number_of_steps, int motor_pin_0, int motor_pin_1,
int motor_pin_2, int motor_pin_3,
int motor_pin_4);
Stepper(int number_of_steps, int motor_pin_0, int motor_pin_1,
int motor_pin_2, int motor_pin_3,
int motor_pin_4, unsigned char *phasesMatrix,
int pin_count, int phase_count);

// speed setter method:
Expand All @@ -142,9 +142,9 @@ class Stepper {

private:
void stepMotor(unsigned char thisPhase);
void initMotor(int number_of_steps, unsigned char motor_pin_1, unsigned char motor_pin_2,
unsigned char motor_pin_3, unsigned char motor_pin_4,
unsigned char motor_pin_5, unsigned char *phasesMatrix,
void initMotor(int number_of_steps, unsigned char motor_pin_0, unsigned char motor_pin_1,
unsigned char motor_pin_2, unsigned char motor_pin_3,
unsigned char motor_pin_4, unsigned char *phasesMatrix,
unsigned char pin_count, unsigned char phase_count);

unsigned long step_delay; // delay between steps, in ms, based on speed
Expand Down