nathan242 / arduino_stepper_control

Stepper motor controller class for Arduino

Stepper motor controller class for Arduino

This is a C++ class for controlling stepper motors that use a step and direction pin.

Multiple motors can be run at the same time and a scheduler is used to determine when the step signal should be sent.

It can also support acceleration and deceleration of a constantly running stepper motor.

I have only tested this on an Arduino Uno but it should also work on other models.

How to use the motorControl class.

Instantiate the class:

motorControl motor = motorControl();

Add motors with addMotors:

motor.addMotor(MODE, SPEED, STEP PIN, DIRECTION PIN);

MODE can be:

• STEP - Motor will only move a set number of steps (set via setSteps)
• CONSTANT - Motor will move constantly and can accelerate to speed

SPEED is the number of microseconds between each HIGH and LOW on the step pin.
Each motor added will get a number starting at 1.

Motor in STEP mode

motor.setSteps (1, 200); // Sets motor 1 to 200 steps

Motor in CONSTANT mode

Set acceleration speed:

motor.setAccel(MOTOR, START SPEED, ACCEL DELAY);

Set mode to accelerate/decelerate:

motor.setAccelState(MOTOR, STATE);

STATE can be MOTOR_ACCEL, MOTOR_DECEL or MOTOR_STOP

Set motor direction:

motor.setDirection(MOTOR, HIGH/LOW);

You must call motor.run() in a loop

Example Program

void setup() {
motorControl motor = motorControl();
motor.addMotor(MOTOR_STEP, 5000, 5, 4);

motor.addMotor(MOTOR_CONSTANT, 200, 7, 6);

motor.setSteps(1, 200);
motor.setAccel(2, 1000, 1000);
motor.setAccelState(2, 1);

unsigned long time = millis();
unsigned long now;
int d = 0;
int s = 0;

while (true) {
motor.run();
now = millis();
if ((now - time) > 5000) {
if (s == 0) {
motor.setAccelState(2,2);
s = 1;
} else {
motor.setAccelState(2,1);
s = 0;
}
time = millis();
}
if (motor.getSteps(1) < 1) {
if (d == 0) {
motor.setDirection(1, HIGH);
d = 1;
} else {
motor.setDirection(1, LOW);
d = 0;
}
motor.setSteps(1, 200);
}
}
}

void loop() {

}