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Library Enhancement - 8-pin control for 2x 4-pin Stepper Motors #46

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Library Enhancement - 8-pin control for 2x 4-pin Stepper Motors #46

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9d593e1
This commit enables the stepper library to be able to drive two 4-pin…
tuneersaha Dec 22, 2023
bacdc42
Some text editing
tuneersaha Dec 22, 2023
d43655b
Parallely ==> Parallelly (Spell Fix)
tuneersaha Dec 23, 2023
23acb40
Update README.adoc
tuneersaha Dec 30, 2023
1e666b3
another try
tuneersaha Jan 19, 2024
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2 changes: 1 addition & 1 deletion README.adoc
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Expand Up @@ -10,7 +10,7 @@ image:https://github.com/{repository-owner}/{repository-name}/actions/workflows/
This library allows you to control unipolar or bipolar stepper motors. To use it you will need a stepper motor, and the appropriate hardware to control it.

For more information about this library please visit us at
http://www.arduino.cc/en/Reference/{repository-name}
http://www.arduino.cc/en/Reference/{repository-name}

== License ==

Expand Down
82 changes: 81 additions & 1 deletion src/Stepper.cpp
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Expand Up @@ -169,6 +169,41 @@ Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
this->pin_count = 5;
}

/*for 8 pins at once so that two motors at opposite directions can run parallelly at opposite direction
to create effects like front wheel drive or back wheel drive, since arduino has a single channel*/
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, int motor_pin_6,
int motor_pin_7, int motor_pin_8)
{
this->step_number = 0; // which step the motor is on
this->direction = 0; // motor direction
this->last_step_time = 0; // timestamp in us of the last step taken
this->number_of_steps = number_of_steps; // total number of steps for this motor
// Arduino pins for the motor control connection:
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->motor_pin_6 = motor_pin_6;
this->motor_pin_7 = motor_pin_7;
this->motor_pin_8 = motor_pin_8;

// setup the pins on the microcontroller:
pinMode(this->motor_pin_1, OUTPUT);
pinMode(this->motor_pin_2, OUTPUT);
pinMode(this->motor_pin_3, OUTPUT);
pinMode(this->motor_pin_4, OUTPUT);
pinMode(this->motor_pin_5, OUTPUT);
pinMode(this->motor_pin_6, OUTPUT);
pinMode(this->motor_pin_7, OUTPUT);
pinMode(this->motor_pin_8, OUTPUT);

// pin_count is used by the stepMotor() method:
this->pin_count = 8;
}

/*
* Sets the speed in revs per minute
*/
Expand Down Expand Up @@ -282,6 +317,51 @@ void Stepper::stepMotor(int thisStep)
}
}

if (this->pin_count == 8) {
switch (thisStep) {
case 0: // 1010
digitalWrite(motor_pin_1, HIGH);
digitalWrite(motor_pin_2, LOW);
digitalWrite(motor_pin_3, HIGH);
digitalWrite(motor_pin_4, LOW);
digitalWrite(motor_pin_5, LOW);
digitalWrite(motor_pin_6, HIGH);
digitalWrite(motor_pin_7, HIGH);
digitalWrite(motor_pin_8, LOW);
break;
case 1: // 0110
digitalWrite(motor_pin_1, LOW);
digitalWrite(motor_pin_2, HIGH);
digitalWrite(motor_pin_3, HIGH);
digitalWrite(motor_pin_4, LOW);
digitalWrite(motor_pin_5, HIGH);
digitalWrite(motor_pin_6, LOW);
digitalWrite(motor_pin_7, HIGH);
digitalWrite(motor_pin_8, LOW);
break;
case 2: //0101
digitalWrite(motor_pin_1, LOW);
digitalWrite(motor_pin_2, HIGH);
digitalWrite(motor_pin_3, LOW);
digitalWrite(motor_pin_4, HIGH);
digitalWrite(motor_pin_5, HIGH);
digitalWrite(motor_pin_6, LOW);
digitalWrite(motor_pin_7, LOW);
digitalWrite(motor_pin_8, HIGH);
break;
case 3: //1001
digitalWrite(motor_pin_1, HIGH);
digitalWrite(motor_pin_2, LOW);
digitalWrite(motor_pin_3, LOW);
digitalWrite(motor_pin_4, HIGH);
digitalWrite(motor_pin_5, LOW);
digitalWrite(motor_pin_6, HIGH);
digitalWrite(motor_pin_7, LOW);
digitalWrite(motor_pin_8, HIGH);
break;
}
}

if (this->pin_count == 5) {
switch (thisStep) {
case 0: // 01101
Expand Down Expand Up @@ -364,4 +444,4 @@ void Stepper::stepMotor(int thisStep)
int Stepper::version(void)
{
return 5;
}
}
8 changes: 7 additions & 1 deletion src/Stepper.h
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Expand Up @@ -89,6 +89,10 @@ class 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(int number_of_steps, int motor_pin_1, int motor_pin_2,
int motor_pin_3, int motor_pin_4,
int motor_pin_5, int motor_pin_6,
int motor_pin_7, int motor_pin_8);

// speed setter method:
void setSpeed(long whatSpeed);
Expand All @@ -113,9 +117,11 @@ class Stepper {
int motor_pin_3;
int motor_pin_4;
int motor_pin_5; // Only 5 phase motor
int motor_pin_6;
int motor_pin_7;
int motor_pin_8; // Defined till 8 pins because 4-pin x2

unsigned long last_step_time; // timestamp in us of when the last step was taken
};

#endif

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