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Add support for '8-step mode' to easystepper
Currently, easystepper driver supports only '4-step mode' (12-23-34-41) when energizing the coils This does not work with all motors & drivers (e.g. 28BJY-48 & ULN2003) This commit adds support for 8-step mode (1-12-2-23-3-34-4-41) Note: this commit breaks backward source compatibility for the factory/constructor functions.
This commit is contained in:
Neil Davis
Ron Evans
+138
-22
@@ -2,28 +2,76 @@
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package easystepper // import "tinygo.org/x/drivers/easystepper"
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import (
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"errors"
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"machine"
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"time"
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)
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// StepMode determines the coil sequence used to perform a single step
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type StepMode uint8
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// Valid values for StepMode
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const (
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// ModeFour uses a 'four step' coil sequence (12-23-34-41). This is the default (zero-value) mode
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ModeFour StepMode = iota
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// ModeEight uses an 'eight step' coil sequence (1-12-2-23-3-34-4-41)
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ModeEight
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)
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// stepCount is a helper function to return the number of steps in a StepMode sequence
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func (sm StepMode) stepCount() uint {
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switch sm {
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default:
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fallthrough
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case ModeFour:
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return 4
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case ModeEight:
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return 8
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}
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}
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// DeviceConfig contains the configuration data for a single easystepper driver
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type DeviceConfig struct {
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// Pin1 ... Pin4 determines the pins to configure and use for the device
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Pin1, Pin2, Pin3, Pin4 machine.Pin
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// StepCount is the number of steps required to perform a full revolution of the stepper motor
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StepCount uint
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// RPM determines the speed of the stepper motor in 'Revolutions per Minute'
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RPM uint
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// Mode determines the coil sequence used to perform a single step
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Mode StepMode
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}
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// DualDeviceConfig contains the configuration data for a dual easystepper driver
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type DualDeviceConfig struct {
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DeviceConfig
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// Pin5 ... Pin8 determines the pins to configure and use for the second device
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Pin5, Pin6, Pin7, Pin8 machine.Pin
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}
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// Device holds the pins and the delay between steps
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type Device struct {
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pins [4]machine.Pin
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stepDelay int32
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stepDelay time.Duration
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stepNumber uint8
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stepMode StepMode
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}
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// DualDevice holds information for controlling 2 motors
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type DualDevice struct {
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devices [2]Device
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devices [2]*Device
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}
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// New returns a new easystepper driver given 4 pins, number of steps and rpm
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func New(pin1, pin2, pin3, pin4 machine.Pin, steps int32, rpm int32) Device {
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return Device{
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pins: [4]machine.Pin{pin1, pin2, pin3, pin4},
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stepDelay: 60000000 / (steps * rpm),
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// New returns a new single easystepper driver given a DeviceConfig
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func New(config DeviceConfig) (*Device, error) {
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if config.StepCount == 0 || config.RPM == 0 {
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return nil, errors.New("config.StepCount and config.RPM must be > 0")
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}
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return &Device{
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pins: [4]machine.Pin{config.Pin1, config.Pin2, config.Pin3, config.Pin4},
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stepDelay: time.Second * 60 / time.Duration((config.StepCount * config.RPM)),
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stepMode: config.Mode,
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}, nil
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}
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// Configure configures the pins of the Device
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@@ -34,17 +82,23 @@ func (d *Device) Configure() {
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}
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// NewDual returns a new dual easystepper driver given 8 pins, number of steps and rpm
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func NewDual(pin1, pin2, pin3, pin4, pin5, pin6, pin7, pin8 machine.Pin, steps int32, rpm int32) DualDevice {
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var dual DualDevice
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dual.devices[0] = Device{
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pins: [4]machine.Pin{pin1, pin2, pin3, pin4},
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stepDelay: 60000000 / (steps * rpm),
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func NewDual(config DualDeviceConfig) (*DualDevice, error) {
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// Create the first device
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dev1, err := New(config.DeviceConfig)
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if err != nil {
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return nil, err
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}
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dual.devices[1] = Device{
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pins: [4]machine.Pin{pin5, pin6, pin7, pin8},
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stepDelay: 60000000 / (steps * rpm),
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// Create the second device
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config.DeviceConfig.Pin1 = config.Pin5
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config.DeviceConfig.Pin2 = config.Pin6
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config.DeviceConfig.Pin3 = config.Pin7
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config.DeviceConfig.Pin4 = config.Pin8
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dev2, err := New(config.DeviceConfig)
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if err != nil {
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return nil, err
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}
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return dual
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// Return composite dual device
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return &DualDevice{devices: [2]*Device{dev1, dev2}}, nil
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}
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// Configure configures the pins of the DualDevice
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@@ -64,7 +118,7 @@ func (d *Device) Move(steps int32) {
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var s int32
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d.stepMotor(d.stepNumber)
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for s = int32(d.stepNumber); s < steps; s++ {
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time.Sleep(time.Duration(d.stepDelay) * time.Microsecond)
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time.Sleep(d.stepDelay)
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d.moveDirectionSteps(direction, s)
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}
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}
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@@ -101,7 +155,7 @@ func (d *DualDevice) Move(stepsA, stepsB int32) {
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stepsA += int32(d.devices[max].stepNumber)
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minStep = int32(d.devices[min].stepNumber)
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for s := int32(d.devices[max].stepNumber); s < stepsA; s++ {
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time.Sleep(time.Duration(d.devices[0].stepDelay) * time.Microsecond)
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time.Sleep(d.devices[0].stepDelay)
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d.devices[max].moveDirectionSteps(directions[max], s)
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if ((s * stepsB) / stepsA) > minStep {
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@@ -119,6 +173,18 @@ func (d *DualDevice) Off() {
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// stepMotor changes the pins' state to the correct step
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func (d *Device) stepMotor(step uint8) {
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switch d.stepMode {
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default:
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fallthrough
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case ModeFour:
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d.stepMotor4(step)
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case ModeEight:
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d.stepMotor8(step)
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}
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}
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// stepMotor4 changes the pins' state to the correct step in 4-step mode
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func (d *Device) stepMotor4(step uint8) {
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switch step {
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case 0:
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d.pins[0].High()
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@@ -148,13 +214,63 @@ func (d *Device) stepMotor(step uint8) {
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d.stepNumber = step
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}
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// stepMotor8 changes the pins' state to the correct step in 8-step mode
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func (d *Device) stepMotor8(step uint8) {
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switch step {
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case 0:
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d.pins[0].High()
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d.pins[2].Low()
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d.pins[1].Low()
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d.pins[3].Low()
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case 1:
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d.pins[0].High()
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d.pins[2].High()
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d.pins[1].Low()
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d.pins[3].Low()
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case 2:
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d.pins[0].Low()
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d.pins[2].High()
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d.pins[1].Low()
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d.pins[3].Low()
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case 3:
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d.pins[0].Low()
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d.pins[2].High()
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d.pins[1].High()
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d.pins[3].Low()
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case 4:
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d.pins[0].Low()
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d.pins[2].Low()
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d.pins[1].High()
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d.pins[3].Low()
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case 5:
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d.pins[0].Low()
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d.pins[2].Low()
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d.pins[1].High()
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d.pins[3].High()
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case 6:
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d.pins[0].Low()
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d.pins[2].Low()
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d.pins[1].Low()
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d.pins[3].High()
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case 7:
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d.pins[0].High()
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d.pins[2].Low()
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d.pins[1].Low()
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d.pins[3].High()
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}
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d.stepNumber = step
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}
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// moveDirectionSteps uses the direction to calculate the correct step and change the motor to it.
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// Direction true: 0, 1, 2, 3, 0, 1, 2, ...
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// Direction false: 0, 3, 2, 1, 0, 3, 2, ...
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// Direction true: (4-step mode) 0, 1, 2, 3, 0, 1, 2, ...
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// Direction false: (4-step mode) 0, 3, 2, 1, 0, 3, 2, ...
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// Direction true: (8-step mode) 0, 1, 2, 3, 4, 5, 6, 7, 0, 1, 2, ...
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// Direction false: (8-step mode) 0, 7, 6, 5, 4, 3, 2, 1, 0, 7, 6, ...
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func (d *Device) moveDirectionSteps(direction bool, step int32) {
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modulus := int32(d.stepMode.stepCount())
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if direction {
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d.stepMotor(uint8(step % 4))
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d.stepMotor(uint8(step % modulus))
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} else {
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d.stepMotor(uint8((step + 2*(step%2)) % 4))
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d.stepMotor(uint8(((-step % modulus) + modulus) % modulus))
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}
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}
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@@ -8,7 +8,11 @@ import (
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)
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func main() {
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motor := easystepper.New(machine.P13, machine.P15, machine.P14, machine.P16, 200, 75)
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config := easystepper.DeviceConfig{
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Pin1: machine.P13, Pin2: machine.P15, Pin3: machine.P14, Pin4: machine.P16,
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StepCount: 200, RPM: 75, Mode: easystepper.ModeFour,
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}
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motor, _ := easystepper.New(config)
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motor.Configure()
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for {
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