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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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Generic constructors without zero parameters 
matthijskooijman wrote:
> I don't think the generic constructor's arguments are
> really easy to use, having to pass zeroes for unused
> pins. Why not just add versions of the current
> constructors, but with the added phases matrix
> arguments?

Fixed with this commit.
  • Loading branch information
@skniazev
skniazev committed Dec 19, 2015
commit c1442a5f17d2bae1afb4ef1b5ed7bca9e47c458b
2 changes: 1 addition & 1 deletion .../examples/stepper_oneRevolution_28BYJ48_ULN2003/stepper_oneRevolution_28BYJ48_ULN2003.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,7 @@ const unsigned char phasesMatrix[8] PROGMEM = {
};

//initialize the stepper library on pins 8 through 11, phasesMatrix, pin_count, phase_count:
Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11, 0, (unsigned char*)phasesMatrix, 4, 8);
Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11, 0, 4, (unsigned char*)phasesMatrix, 8);

void setup() {
// 17 is the maximum for counterclockwise revolution of motor 28BYJ-48
Expand Down
72 changes: 63 additions & 9 deletions libraries/Stepper/src/Stepper.cpp
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Expand Up @@ -91,7 +91,7 @@
Stepper::Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1)
{
initMotor(number_of_steps, motor_pin_0, motor_pin_1,
0, 0, 0, (unsigned char*)phasesMatrix2, 2, 4);
0, 0, 0, 2, (unsigned char*)phasesMatrix2, 4);
}

/*
Expand All @@ -103,7 +103,7 @@ Stepper::Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
{
initMotor(number_of_steps, motor_pin_0, motor_pin_1,
motor_pin_2, motor_pin_3,
0, (unsigned char*)phasesMatrix4, 4, 4);
0, 4, (unsigned char*)phasesMatrix4, 4);
}

/*
Expand All @@ -116,7 +116,61 @@ Stepper::Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
{
initMotor(number_of_steps, motor_pin_0, motor_pin_1,
motor_pin_2, motor_pin_3,
motor_pin_4, (unsigned char*)phasesMatrix5, 5, 10);
motor_pin_4, 5, (unsigned char*)phasesMatrix5, 10);
}

/*
* universal constructor for motors with only one wire
* Sets which wires should control the motor, pointer to the phases matrix, number of pins and phases.
*/
Stepper::Stepper(unsigned number_of_steps, int motor_pin_0,
int pin_count, unsigned char *phasesMatrix, int phase_count)
{
initMotor(number_of_steps, motor_pin_0, 0,
0, 0,
0, pin_count,
phasesMatrix,phase_count);
}

/*
* universal constructor for motors with maximum two wires
* Sets which wires should control the motor, pointer to the phases matrix, number of pins and phases.
*/
Stepper::Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
int pin_count, unsigned char *phasesMatrix, int phase_count)
{
initMotor(number_of_steps, motor_pin_0, motor_pin_1,
0, 0,
0, pin_count,
phasesMatrix,phase_count);
}

/*
* universal constructor for motors with maximum three wires
* Sets which wires should control the motor, pointer to the phases matrix, number of pins and phases.
*/
Stepper::Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
int motor_pin_2, int pin_count,
unsigned char *phasesMatrix, int phase_count)
{
initMotor(number_of_steps, motor_pin_0, motor_pin_1,
motor_pin_2, 0,
0, pin_count,
phasesMatrix,phase_count);
}

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

/*
Expand All @@ -125,13 +179,13 @@ Stepper::Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
*/
Stepper::Stepper(unsigned 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)
int motor_pin_4, int pin_count,
unsigned char *phasesMatrix, int phase_count)
{
initMotor(number_of_steps, motor_pin_0, motor_pin_1,
motor_pin_2, motor_pin_3,
motor_pin_4, phasesMatrix,
pin_count, phase_count);
motor_pin_4, pin_count,
phasesMatrix,phase_count);
}

/*
Expand Down Expand Up @@ -200,8 +254,8 @@ void Stepper::stepMotor(unsigned char thisPhase)
*/
void Stepper::initMotor(unsigned 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 char motor_pin_4, unsigned char pin_count,
unsigned char *phasesMatrix,unsigned char phase_count)
{
this->step_number = 0; // which step the motor is on
this->number_of_steps = number_of_steps; // total number of steps for this motor
Expand Down
18 changes: 14 additions & 4 deletions libraries/Stepper/src/Stepper.h
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Original file line number Diff line number Diff line change
Expand Up @@ -127,10 +127,20 @@ class Stepper {
Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
int motor_pin_2, int motor_pin_3,
int motor_pin_4);
Stepper(unsigned number_of_steps, int motor_pin_0,
int pin_count, unsigned char *phasesMatrix, int phase_count);
Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
int pin_count, unsigned char *phasesMatrix, int phase_count);
Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
int motor_pin_2, int pin_count,
unsigned char *phasesMatrix, int phase_count);
Stepper(unsigned number_of_steps, int motor_pin_0, int motor_pin_1,
int motor_pin_2, int motor_pin_3, int pin_count,
unsigned char *phasesMatrix, int phase_count);
Stepper(unsigned 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);
int motor_pin_4, int pin_count,
unsigned char *phasesMatrix, int phase_count);

// speed setter method:
void setSpeed(long whatSpeed);
Expand All @@ -144,8 +154,8 @@ class Stepper {
void stepMotor(unsigned char thisPhase);
void initMotor(unsigned 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 char motor_pin_4, unsigned char pin_count,
unsigned char *phasesMatrix,unsigned char phase_count);

unsigned long step_delay; // delay between steps, in ms, based on speed
unsigned number_of_steps; // total number of steps this motor can take
Expand Down