drivers/easystepper/easystepper.go

// Package easystepper provides a simple driver to rotate a 4-wire stepper motor.
package easystepper // import "tinygo.org/x/drivers/easystepper"

import (
	"machine"
	"time"
)

// Device holds the pins and the delay between steps
type Device struct {
	pins       [4]machine.Pin
	stepDelay  int32
	stepNumber uint8
}

// DualDevice holds information for controlling 2 motors
type DualDevice struct {
	devices [2]Device
}

// New returns a new easystepper driver given 4 pins, number of steps and rpm
func New(pin1, pin2, pin3, pin4 machine.Pin, steps int32, rpm int32) Device {
	return Device{
		pins:      [4]machine.Pin{pin1, pin2, pin3, pin4},
		stepDelay: 60000000 / (steps * rpm),
	}
}

// Configure configures the pins of the Device
func (d *Device) Configure() {
	for _, pin := range d.pins {
		pin.Configure(machine.PinConfig{Mode: machine.PinOutput})
	}
}

// NewDual returns a new dual easystepper driver given 8 pins, number of steps and rpm
func NewDual(pin1, pin2, pin3, pin4, pin5, pin6, pin7, pin8 machine.Pin, steps int32, rpm int32) DualDevice {
	var dual DualDevice
	dual.devices[0] = Device{
		pins:      [4]machine.Pin{pin1, pin2, pin3, pin4},
		stepDelay: 60000000 / (steps * rpm),
	}
	dual.devices[1] = Device{
		pins:      [4]machine.Pin{pin5, pin6, pin7, pin8},
		stepDelay: 60000000 / (steps * rpm),
	}
	return dual
}

// Configure configures the pins of the DualDevice
func (d *DualDevice) Configure() {
	d.devices[0].Configure()
	d.devices[1].Configure()
}

// Move rotates the motor the number of given steps
// (negative steps will rotate it the opposite direction)
func (d *Device) Move(steps int32) {
	direction := steps > 0
	if steps < 0 {
		steps = -steps
	}
	steps += int32(d.stepNumber)
	var s int32
	d.stepMotor(d.stepNumber)
	for s = int32(d.stepNumber); s < steps; s++ {
		time.Sleep(time.Duration(d.stepDelay) * time.Microsecond)
		d.moveDirectionSteps(direction, s)
	}
}

// Off turns off all motor pins
func (d *Device) Off() {
	for _, pin := range d.pins {
		pin.Low()
	}
}

// Move rotates the motors the number of given steps
// (negative steps will rotate it the opposite direction)
func (d *DualDevice) Move(stepsA, stepsB int32) {
	min := uint8(1)
	max := uint8(0)
	var directions [2]bool
	var minStep int32

	directions[0] = stepsA > 0
	directions[1] = stepsB > 0
	if stepsA < 0 {
		stepsA = -stepsA
	}
	if stepsB < 0 {
		stepsB = -stepsB
	}
	if stepsB > stepsA {
		stepsA, stepsB = stepsB, stepsA
		max, min = min, max
	}
	d.devices[0].stepMotor(d.devices[0].stepNumber)
	d.devices[1].stepMotor(d.devices[1].stepNumber)
	stepsA += int32(d.devices[max].stepNumber)
	minStep = int32(d.devices[min].stepNumber)
	for s := int32(d.devices[max].stepNumber); s < stepsA; s++ {
		time.Sleep(time.Duration(d.devices[0].stepDelay) * time.Microsecond)
		d.devices[max].moveDirectionSteps(directions[max], s)

		if ((s * stepsB) / stepsA) > minStep {
			minStep++
			d.devices[min].moveDirectionSteps(directions[min], minStep)
		}
	}
}

// Off turns off all motor pins
func (d *DualDevice) Off() {
	d.devices[0].Off()
	d.devices[1].Off()
}

// stepMotor changes the pins' state to the correct step
func (d *Device) stepMotor(step uint8) {
	switch step {
	case 0:
		d.pins[0].High()
		d.pins[1].Low()
		d.pins[2].High()
		d.pins[3].Low()
		break
	case 1:
		d.pins[0].Low()
		d.pins[1].High()
		d.pins[2].High()
		d.pins[3].Low()
		break
	case 2:
		d.pins[0].Low()
		d.pins[1].High()
		d.pins[2].Low()
		d.pins[3].High()
		break
	case 3:
		d.pins[0].High()
		d.pins[1].Low()
		d.pins[2].Low()
		d.pins[3].High()
		break
	}
	d.stepNumber = step
}

// moveDirectionSteps uses the direction to calculate the correct step and change the motor to it.
// Direction true: 0, 1, 2, 3, 0, 1, 2, ...
// Direction false: 0, 3, 2, 1, 0, 3, 2, ...
func (d *Device) moveDirectionSteps(direction bool, step int32) {
	if direction {
		d.stepMotor(uint8(step % 4))
	} else {
		d.stepMotor(uint8((step + 2*(step%2)) % 4))
	}
}