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#include "RepStepper.h"
/*
* two-wire constructor.
* Sets which wires should control the motor.
*/
RepStepper::RepStepper(int number_of_steps, byte dir_pin, byte step_pin, byte enable_pin)
{
//init our variables.
this->setSpeed(0);
//get our parameters
this->number_of_steps = number_of_steps;
this->step_pin = step_pin;
this->direction_pin = dir_pin;
this->enable_pin = enable_pin;
// setup the pins on the microcontroller:
pinMode(this->step_pin, OUTPUT);
pinMode(this->direction_pin, OUTPUT);
this->enable();
this->setDirection(RS_FORWARD);
}
/*
Sets the speed in ticks per step
*/
void RepStepper::setSpeed(long speed)
{
step_delay = speed;
if (step_delay > 0)
rpm = 960000000UL / (step_delay * number_of_steps);
else
rpm = 0;
}
/*
Sets the speed in revs per minute
*/
void RepStepper::setRPM(int new_rpm)
{
if (new_rpm == 0)
{
step_delay = 0;
rpm = 0;
}
else
{
rpm = new_rpm;
//lets use the highest precision possible... processor ticks.
// 16MHZ = 16,000,000 ticks/sec * 60 seconds in a minute = 960,000,000 ticks / minute
// take the total # of ticks / steps per rev / number of revolutions per minute = ticks per step
step_delay = (960000000UL / number_of_steps) / rpm;
}
}
void RepStepper::setSteps(int steps)
{
number_of_steps = steps;
//recalculate our speed.
this->setRPM(this->rpm);
}
void RepStepper::setDirection(bool direction)
{
digitalWrite(this->direction_pin, direction);
delayMicroseconds(10); //make sure it stabilizes..
this->direction = direction; //save our direction.
}
int RepStepper::getMicros()
{
return step_delay / 16;
}
void RepStepper::enable()
{
if (this->enable_pin != 255)
{
digitalWrite(enable_pin, HIGH);
delayMicroseconds(10); //make sure it stabilizes
}
enabled = true;
}
void RepStepper::disable()
{
if (this->enable_pin != 255)
{
digitalWrite(this->enable_pin, LOW);
delayMicroseconds(10); //make sure it stabilizes
}
enabled = false;
}
//this sends a pulse to our stepper controller.
void RepStepper::pulse()
{
digitalWrite(this->step_pin, HIGH);
delayMicroseconds(5); //make sure it stabilizes... for opto isolated stepper drivers.
digitalWrite(this->step_pin, LOW);
}
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