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libraries/FirmataWithDeviceFeature/src-features/utility/FirmataStepper.h

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+/*
+  FirmataStepper is a simple non-blocking stepper motor library
+  for 2 and 4 wire bipolar and unipolar stepper motor drive circuits
+  as well as EasyDriver (http://schmalzhaus.com/EasyDriver/) and
+  other step + direction drive circuits.
+
+  FirmataStepper (0.2) by Jeff Hoefs
+
+  EasyDriver support based on modifications by Chris Coleman
+
+  Acceleration / Deceleration algorithms and code based on:
+  app note: http://www.atmel.com/dyn/resources/prod_documents/doc8017.pdf
+  source code: http://www.atmel.com/dyn/resources/prod_documents/AVR446.zip
+
+  stepMotor function based on Stepper.cpp Stepper library for
+  Wiring/Arduino created by Tom Igoe, Sebastian Gassner
+  David Mellis and Noah Shibley.
+
+  Relevant notes from Stepper.cpp:
+
+  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.
+
+  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.
+
+  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
+
+  The circuits can be found at
+  http://www.arduino.cc/en/Tutorial/Stepper
+*/
+
+// ensure this library description is only included once
+#ifndef FirmataStepper_h
+#define FirmataStepper_h
+
+#if defined(ARDUINO) && ARDUINO >= 100
+#include "Arduino.h"
+#else
+#include "WProgram.h"
+#endif
+
+#define PI_2 2*3.14159
+#define T1_FREQ 1000000L // provides the most accurate step delay values
+#define T1_FREQ_148 ((long)((T1_FREQ*0.676)/100)) // divided by 100 and scaled by 0.676
+
+// library interface description
+class FirmataStepper
+{
+  public:
+    FirmataStepper(byte interface = FirmataStepper::DRIVER,
+                   int steps_per_rev = 200,
+                   byte pin1 = 2,
+                   byte pin2 = 3,
+                   byte pin3 = 4,
+                   byte pin4 = 5);
+
+    enum Interface
+    {
+      DRIVER = 1,
+      TWO_WIRE = 2,
+      FOUR_WIRE = 4
+    };
+
+    enum RunState
+    {
+      STOP = 0,
+      ACCEL = 1,
+      DECEL = 2,
+      RUN = 3
+    };
+
+    enum Direction
+    {
+      CCW = 0,
+      CW = 1
+    };
+
+    void setStepsToMove(long steps_to_move, int speed, int accel = 0, int decel = 0);
+
+    // update the stepper position
+    bool update();
+
+    byte version(void);
+
+  private:
+    void stepMotor(byte step_num, byte direction);
+    void updateStepPosition();
+    bool running;
+    byte interface;     // Type of interface: DRIVER, TWO_WIRE or FOUR_WIRE
+    byte direction;        // Direction of rotation
+    unsigned long step_delay;    // delay between steps, in microseconds
+    int steps_per_rev;      // number of steps to make one revolution
+    long step_number;        // which step the motor is on
+    long steps_to_move;   // total number of teps to move
+    byte stepDelay;       // delay between steps (default = 1, increase for high current drivers)
+
+    byte run_state;
+    int accel_count;
+    unsigned long min_delay;
+    long decel_start;
+    int decel_val;
+
+    long lastAccelDelay;
+    long stepCount;
+    unsigned int rest;
+
+    float alpha;  // PI * 2 / steps_per_rev
+    long at_x100;  // alpha * T1_FREQ * 100
+    long ax20000;  // alph a* 20000
+    float alpha_x2;  // alpha * 2
+
+    // motor pin numbers:
+    byte dir_pin;
+    byte step_pin;
+    byte motor_pin_1;
+    byte motor_pin_2;
+    byte motor_pin_3;
+    byte motor_pin_4;
+
+    unsigned long last_step_time; // time stamp in microseconds of when the last step was taken
+};
+
+#endif