/*
?*?Stepper2.h?-?BYJ48?stepper?motor?library?for?Wiring/Arduino?-?Version?0.0.1
?*
?*?This?library?is?free?software;?you?can?redistribute?it?and/or
?*?modify?it?under?the?terms?of?the?GNU?Lesser?General?Public
?*?License?as?published?by?the?Free?Software?Foundation;?either
?*?version?2.1?of?the?License?or?（at?your?option）?any?later?version.
?*
?*?This?library?is?distributed?in?the?hope?that?it?will?be?useful
?*?but?WITHOUT?ANY?WARRANTY;?without?even?the?implied?warranty?of
?*?MERCHANTABILITY?or?FITNESS?FOR?A?PARTICULAR?PURPOSE.??See?the?GNU
?*?Lesser?General?Public?License?for?more?details.
?*
?*?You?should?have?received?a?copy?of?the?GNU?Lesser?General?Public
?*?License?along?with?this?library;?if?not?write?to?the?Free?Software
?*?Foundation?Inc.?51?Franklin?St?Fifth?Floor?Boston?MA??02110-1301??USA
?*
?*?The?circuits?can?be?found?at
?*
?*?https://github.com/udivankin/Stepper2
?*/

#include?“Arduino.h“
#include?“Stepper2.h“

const?int?microsInSecond?=?1000L?*?1000L;
const?int?microsInMinute?=?60L?*?microsInSecond;

//?Maximum?steps?per?second
const?int?maxHz?=?1000;

//?Approx?steps?count?to?make?a?full?turn
const?int?stepsPerFullTurn?=?4096;

//?Number?of?steps?to?make?a?rev?of?internal?motor
const?int?numberOfSteps?=?64;

//?Step?matrix
int?stepMatrix[8][4]?=?{
??{?LOW?LOW?LOW?HIGH?}
??{?LOW?LOW?HIGH?HIGH?}
??{?LOW?LOW?HIGH?LOW?}
??{?LOW?HIGH?HIGH?LOW?}
??{?LOW?HIGH?LOW?LOW?}
??{?HIGH?HIGH?LOW?LOW?}
??{?HIGH?LOW?LOW?LOW?}
??{?HIGH?LOW?LOW?HIGH?}
};

//?Output?levels?to?stop?the?motor
int?allLows[4]?=?{?LOW?LOW?LOW?LOW?};

/*
?*??Constructor?for?four-pin?version
?*??Sets?which?wires?should?control?the?motor.
?*/
Stepper2::Stepper2（int?motorPin[4]）
{
??this->step_number?=?0;????//?which?step?the?motor?is?on
??this->last_step_time?=?0;?//?time?stamp?in?us?of?the?last?step?taken

??//?setup?the?pins?on?the?microcontroller:
??for?（int?i?=?0;?i?????this->pin_matrix[i]?=?motorPin[i];
????pinMode（motorPin[i]?OUTPUT）;
??}
}

/*
?*?Sets?the?speed?in?revs?per?minute
?*/
void?Stepper2::setSpeed（int?rpm）
{
??int?duration?=?microsInMinute?/?stepsPerFullTurn?/?rpm;
??int?minDuration?=?microsInSecond?/?maxHz;
??this->step_duration?=?duration?>?minDuration???duration?:?minDuration;
}

/*
?*?Sets?the?speed?in?revs?per?minute
?*/
void?Stepper2::setDirection（int?direction）
{
??this->direction?=?direction;
}

/*
?*?Write?pin?state?to?output
?*/
void?Stepper2::writeStep（int?outArray[4]）{
??for?（int?i?=?0;?i?????digitalWrite（this->pin_matrix[i]?outArray[i]）;
??}
}

/*
?*?Moves?the?motor?stepsToMove?steps.
?*/
void?Stepper2::step（int?stepsToMove）
{
??int?stepsLeft?=?abs（stepsToMove）;??//?how?many?steps?to?take

??//?Adjust?stepsToMove?accrodign?to?direction
??if?（this->direction?==?1）?{
?????stepsToMove?=?-stepsToMove;
??}

??//?decrement?the?number?of?steps?moving?one?step?each?time
??while?（stepsLeft?>?0）?{
????unsigned?long?now?=?micros（）;
????//?move?only?if?the?appropriate?delay?has?passed
?

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2017-03-06?19:42??Stepper2-master\
?????文件?????????966??2017-03-06?19:42??Stepper2-master\README.adoc
?????目錄???????????0??2017-03-06?19:42??Stepper2-master\examples\
?????目錄???????????0??2017-03-06?19:42??Stepper2-master\examples\Stepper2_oneTurn\
?????文件?????????561??2017-03-06?19:42??Stepper2-master\examples\Stepper2_oneTurn\stepper_oneRevolution.ino
?????文件?????????664??2017-03-06?19:42??Stepper2-master\keywords.txt
?????文件?????????310??2017-03-06?19:42??Stepper2-master\library.properties
?????目錄???????????0??2017-03-06?19:42??Stepper2-master\src\
?????文件????????4364??2017-03-06?19:42??Stepper2-master\src\Stepper2.cpp
?????文件????????1995??2017-03-06?19:42??Stepper2-master\src\Stepper2.h