1 reply to this topic

[mr_squall]

Hi! I will share working code for this step motor.

Class:

 

using System;
using System.Threading;
using Microsoft.SPOT;
using Microsoft.SPOT.Hardware;
using SecretLabs.NETMF.Hardware.Netduino;

namespace RadugaParnik
{
    public class StepMotorService
    {
        private OutputPort _pin0;
        private OutputPort _pin1;
        private OutputPort _pin2;
        private OutputPort _pin3;

        public StepMotorService(Cpu.Pin pin0, Cpu.Pin pin1, Cpu.Pin pin2, Cpu.Pin pin3)
        {
            _pin0 = new OutputPort(pin0, false);
            _pin1 = new OutputPort(pin1, false);
            _pin2 = new OutputPort(pin2, false);
            _pin3 = new OutputPort(pin3, false);
        }

        public void MoveForward(int stepsCount, bool fourSterp=false)
        {
            if (fourSterp)
            {
                Move4Step(true, stepsCount);
            }
            else
            {
               Move(true, stepsCount);
            }

        }

        public void MoveBackward(int stepsCount,bool fourStep = false)
        {
            if (fourStep)
            {
                Move4Step(false, stepsCount);
            }
            else
            {
                Move(false, stepsCount);
            }
        }

        private void Move(bool forward, int stepsCount)
        {
            int resCount = stepsCount*7;
            int step = 0;
            bool dir = !forward;

            for (int i = 0; i < resCount; i++)
            {
                switch (step)
                {
                    case 0:
                        _pin0.Write(false);
                        _pin1.Write(false);
                        _pin2.Write(false);
                        _pin3.Write(true);
                        break;
                    case 1:
                        _pin0.Write(false);
                        _pin1.Write(false);
                        _pin2.Write(true);
                        _pin3.Write(true);
                        break;
                    case 2:
                        _pin0.Write(false);
                        _pin1.Write(false);
                        _pin2.Write(true);
                        _pin3.Write(false);
                        break;
                    case 3:
                        _pin0.Write(false);
                        _pin1.Write(true);
                        _pin2.Write(true);
                        _pin3.Write(false);
                        break;
                    case 4:
                        _pin0.Write(false);
                        _pin1.Write(true);
                        _pin2.Write(false);
                        _pin3.Write(false);
                        break;
                    case 5:
                        _pin0.Write(true);
                        _pin1.Write(true);
                        _pin2.Write(false);
                        _pin3.Write(false);
                        break;
                    case 6:
                        _pin0.Write(true);
                        _pin1.Write(false);
                        _pin2.Write(false);
                        _pin3.Write(false);
                        break;
                    case 7:
                        _pin0.Write(true);
                        _pin1.Write(false);
                        _pin2.Write(false);
                        _pin3.Write(true);
                        break;
                    default:
                        _pin0.Write(false);
                        _pin1.Write(false);
                        _pin2.Write(false);
                        _pin3.Write(false);
                        break;
                }
                if (dir)
                {
                    step++;
                }
                else
                {
                    step--;
                }
                if (step > 7)
                {
                    step = 0;
                }
                if (step < 0)
                {
                    step = 7;
                }
                Thread.Sleep(1);
            }

            // ??????? ??? ? ?????
            _pin0.Write(false);
            _pin1.Write(false);
            _pin2.Write(false);
            _pin3.Write(false);
        }
    }
}
 

 

Usage:

StepMotorService motorServ = new StepMotorService(Pins.GPIO_PIN_D4,
                Pins.GPIO_PIN_D5, Pins.GPIO_PIN_D6, Pins.GPIO_PIN_D7);

 

motorServ.MoveBackward(2000);
motorServ.MoveForward(5000)

[Rx7man]

Here's something (in VB) that will neaten the step logic coding.. it does it in halfsteps (which are the odd steps) or full steps if you skip the odds... Someone with more expertise than me can tell me if it's quicker.

 output.PhaseA = (stepnumber + 1) Mod 8 < 3
 output.PhaseB = (stepnumber + 5) Mod 8 < 3
 output.PhaseC = (stepnumber + 7) Mod 8 < 3
 output.PhaseD = (stepnumber + 3) Mod 8 < 3

outputs...  Listed as phase A, B, C, D

 

Step number : 0
True    False    False    False
Step number : 1
True    False    True    False
Step number : 2
False    False    True    False
Step number : 3
False    True    True    False
Step number : 4
False    True    False    False
Step number : 5
False    True    False    True
Step number : 6
False    False    False    True
Step number : 7
True    False    False    True