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Stepper.js
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/*
* Stepper.js - Stepper library for the Raspberry Pi - Version 1.0.0
*
* Original CPP file: Stepper library for Wiring/Arduino - Version 1.1.0
* from: https://github.com/arduino-libraries/Stepper/
*
* === Original CPP library ===
* Original library (0.1) by Tom Igoe.
* Two-wire modifications (0.2) by Sebastian Gassner
* Combination version (0.3) by Tom Igoe and David Mellis
* Bug fix for four-wire (0.4) by Tom Igoe, bug fix from Noah Shibley
* High-speed stepping mod by Eugene Kozlenko
* Timer rollover fix by Eugene Kozlenko
* Five phase five wire (1.1.0) by Ryan Orendorff
*
* === NodeJS Implementation ===
* Coverted CPP to NodeJS (1.0.0) by Johan van der Meer
*
* 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
*
*
* Drives a unipolar, bipolar, or five phase stepper motor.
*
* When wiring multiple stepper motors to a microcontroller, you quickly run
* out of output pins, with each motor requiring 4 connections.
*
* By making use of the fact that at any time two of the four motor coils are
* the inverse of the other two, the number of control connections can be
* reduced from 4 to 2 for the unipolar and bipolar motors.
*
* A slightly modified circuit around a Darlington transistor array or an
* L293 H-bridge connects to only 2 microcontroller pins, inverts the signals
* received, and delivers the 4 (2 plus 2 inverted ones) output signals
* required for driving a stepper motor. Similarly the Arduino motor shield's
* 2 direction pins may be used.
*
* The sequence of control signals for 5 phase, 5 control wires is as follows:
*
* Step C0 C1 C2 C3 C4
* 1 0 1 1 0 1
* 2 0 1 0 0 1
* 3 0 1 0 1 1
* 4 0 1 0 1 0
* 5 1 1 0 1 0
* 6 1 0 0 1 0
* 7 1 0 1 1 0
* 8 1 0 1 0 0
* 9 1 0 1 0 1
* 10 0 0 1 0 1
*
* The sequence of control signals for 4 control wires is as follows:
*
* Step C0 C1 C2 C3
* 1 1 0 1 0
* 2 0 1 1 0
* 3 0 1 0 1
* 4 1 0 0 1
*
* The sequence of control signals for 2 control wires is as follows
* (columns C1 and C2 from above):
*
* Step C0 C1
* 1 0 1
* 2 1 1
* 3 1 0
* 4 0 0
*
* The circuits can be found at
*
* http://www.arduino.cc/en/Tutorial/Stepper
*
* This library makes use of the 'onoff' library by fivdi to control the GPIO pins of the Raspberry Pi.
*
* Onoff can be found at: https://www.npmjs.com/package/onoff
* Github repository: https://github.com/fivdi/onoff
*/
const Gpio = require('onoff').Gpio;
const HIGH = 1;
const LOW = 0;
const current_version = "1.0.0";
module.exports = class Stepper
{
/*
* constructor for stepper motors with two to five wires
* Sets which wires should control the motor.
*/
constructor(number_of_steps, motor_pin_1, motor_pin_2, motor_pin_3, motor_pin_4, motor_pin_5)
{
this.motor_pin_1 = new Gpio(motor_pin_1, 'out');
this.motor_pin_2 = new Gpio(motor_pin_2, 'out');
this.pin_count = 2;
if (motor_pin_3 != null && motor_pin_4 != null)
{
this.motor_pin_3 = new Gpio(motor_pin_3, 'out');
this.motor_pin_4 = new Gpio(motor_pin_4, 'out');
this.pin_count = 4;
}
if (motor_pin_5 != null)
{
this.motor_pin_5 = new Gpio(motor_pin_5, 'out');
this.pin_count = 5;
}
this.step_number = 0;
this.direction = 0;
this.last_step_time = 0;
this.number_of_steps = number_of_steps;
}
/*
* Sets the speed in revs per minute
*/
setSpeed(speed)
{
// delay in ms
this.step_delay = 60 * 1000 * 1000 / this.number_of_steps / speed;
}
/*
* Moves the motor steps_to_move steps. If the number is negative,
* the motor moves in the reverse direction.
*/
step(steps_to_move)
{
// how many steps to take
let steps_left = Math.abs(steps_to_move);
// determine direction based on whether steps_to_mode is + or -:
if (steps_to_move > 0) { this.direction = 1; }
if (steps_to_move < 0) { this.direction = 0; }
while (steps_left > 0)
{
let now = this.micros();
// move only if the appropriate delay has passed:
if (now - this.last_step_time >= this.step_delay)
{
// get the timeStamp of when you stepped:
this.last_step_time = now;
// increment or decrement the step number,
// depending on direction:
if (this.direction == 1)
{
this.step_number++;
if (this.step_number == this.number_of_steps)
{
this.step_number = 0;
}
}
else
{
if (this.step_number == 0)
{
this.step_number = this.number_of_steps;
}
this.step_number--;
}
// decrement the steps left:
steps_left--;
// step the motor to step number 0, 1, ..., {3 or 10}
if (this.pin_count == 5)
{
this.stepMotor(this.step_number % 10);
}
else
{
this.stepMotor(this.step_number % 8);
}
}
}
}
/*
* Moves the motor forward or backwards.
*/
stepMotor(thisStep)
{
if (this.pin_count == 2)
{
switch (thisStep)
{
case 0: // 01
this.digitalWrite(this.motor_pin_1, LOW);
this.digitalWrite(this.motor_pin_2, HIGH);
break;
case 1: // 11
this.digitalWrite(this.motor_pin_1, HIGH);
this.digitalWrite(this.motor_pin_2, HIGH);
break;
case 2: // 10
this.digitalWrite(this.motor_pin_1, HIGH);
this.digitalWrite(this.motor_pin_2, LOW);
break;
case 3: // 00
this.digitalWrite(this.motor_pin_1, LOW);
this.digitalWrite(this.motor_pin_2, LOW);
break;
}
}
if (this.pin_count == 4)
{
switch (thisStep)
{
case 0: // 1010
this.digitalWrite(this.motor_pin_1, HIGH);
this.digitalWrite(this.motor_pin_2, LOW);
this.digitalWrite(this.motor_pin_3, LOW);
this.digitalWrite(this.motor_pin_4, LOW);
break;
case 1: // 0110
this.digitalWrite(this.motor_pin_1, HIGH);
this.digitalWrite(this.motor_pin_2, HIGH);
this.digitalWrite(this.motor_pin_3, LOW);
this.digitalWrite(this.motor_pin_4, LOW);
break;
case 2: //0101
this.digitalWrite(this.motor_pin_1, LOW);
this.digitalWrite(this.motor_pin_2, HIGH);
this.digitalWrite(this.motor_pin_3, LOW);
this.digitalWrite(this.motor_pin_4, LOW);
break;
case 3: //1001
this.digitalWrite(this.motor_pin_1, LOW);
this.digitalWrite(this.motor_pin_2, HIGH);
this.digitalWrite(this.motor_pin_3, HIGH);
this.digitalWrite(this.motor_pin_4, LOW);
break;
case 4: //1001
this.digitalWrite(this.motor_pin_1, LOW);
this.digitalWrite(this.motor_pin_2, LOW);
this.digitalWrite(this.motor_pin_3, HIGH);
this.digitalWrite(this.motor_pin_4, LOW);
break;
case 5: //1001
this.digitalWrite(this.motor_pin_1, LOW);
this.digitalWrite(this.motor_pin_2, LOW);
this.digitalWrite(this.motor_pin_3, HIGH);
this.digitalWrite(this.motor_pin_4, HIGH);
break;
case 6: //1001
this.digitalWrite(this.motor_pin_1, LOW);
this.digitalWrite(this.motor_pin_2, LOW);
this.digitalWrite(this.motor_pin_3, LOW);
this.digitalWrite(this.motor_pin_4, HIGH);
break;
case 7: //1001
this.digitalWrite(this.motor_pin_1, HIGH);
this.digitalWrite(this.motor_pin_2, LOW);
this.digitalWrite(this.motor_pin_3, LOW);
this.digitalWrite(this.motor_pin_4, HIGH);
break;
}
}
if (this.pin_count == 5)
{
switch (thisStep)
{
case 0: // 01101
this.digitalWrite(this.motor_pin_1, LOW);
this.digitalWrite(this.motor_pin_2, HIGH);
this.digitalWrite(this.motor_pin_3, HIGH);
this.digitalWrite(this.motor_pin_4, LOW);
this.digitalWrite(this.motor_pin_5, HIGH);
break;
case 1: // 01001
this.digitalWrite(this.motor_pin_1, LOW);
this.digitalWrite(this.motor_pin_2, HIGH);
this.digitalWrite(this.motor_pin_3, LOW);
this.digitalWrite(this.motor_pin_4, LOW);
this.digitalWrite(this.motor_pin_5, HIGH);
break;
case 2: // 01011
this.digitalWrite(this.motor_pin_1, LOW);
this.digitalWrite(this.motor_pin_2, HIGH);
this.digitalWrite(this.motor_pin_3, LOW);
this.digitalWrite(this.motor_pin_4, HIGH);
this.digitalWrite(this.motor_pin_5, HIGH);
break;
case 3: // 01010
this.digitalWrite(this.motor_pin_1, LOW);
this.digitalWrite(this.motor_pin_2, HIGH);
this.digitalWrite(this.motor_pin_3, LOW);
this.digitalWrite(this.motor_pin_4, HIGH);
this.digitalWrite(this.motor_pin_5, LOW);
break;
case 4: // 11010
this.digitalWrite(this.motor_pin_1, HIGH);
this.digitalWrite(this.motor_pin_2, HIGH);
this.digitalWrite(this.motor_pin_3, LOW);
this.digitalWrite(this.motor_pin_4, HIGH);
this.digitalWrite(this.motor_pin_5, LOW);
break;
case 5: // 10010
this.digitalWrite(this.motor_pin_1, HIGH);
this.digitalWrite(this.motor_pin_2, LOW);
this.digitalWrite(this.motor_pin_3, LOW);
this.digitalWrite(this.motor_pin_4, HIGH);
this.digitalWrite(this.motor_pin_5, LOW);
break;
case 6: // 10110
this.digitalWrite(this.motor_pin_1, HIGH);
this.digitalWrite(this.motor_pin_2, LOW);
this.digitalWrite(this.motor_pin_3, HIGH);
this.digitalWrite(this.motor_pin_4, HIGH);
this.digitalWrite(this.motor_pin_5, LOW);
break;
case 7: // 10100
this.digitalWrite(this.motor_pin_1, HIGH);
this.digitalWrite(this.motor_pin_2, LOW);
this.digitalWrite(this.motor_pin_3, HIGH);
this.digitalWrite(this.motor_pin_4, LOW);
this.digitalWrite(this.motor_pin_5, LOW);
break;
case 8: // 10101
this.digitalWrite(this.motor_pin_1, HIGH);
this.digitalWrite(this.motor_pin_2, LOW);
this.digitalWrite(this.motor_pin_3, HIGH);
this.digitalWrite(this.motor_pin_4, LOW);
this.digitalWrite(this.motor_pin_5, HIGH);
break;
case 9: // 00101
this.digitalWrite(this.motor_pin_1, LOW);
this.digitalWrite(this.motor_pin_2, LOW);
this.digitalWrite(this.motor_pin_3, HIGH);
this.digitalWrite(this.motor_pin_4, LOW);
this.digitalWrite(this.motor_pin_5, HIGH);
break;
}
}
}
/*
version() write a value of 0 or 1 to a output pin
*/
digitalWrite(pin, value)
{
pin.writeSync(value);
}
/*
micros() returns the time since starting the script in microseconds
uptime in seconds -> miliseconds -> microseconds
*/
micros()
{
return process.uptime() * 1000 * 1000;
}
/*
version() returns the version of the library:
*/
version()
{
return current_version;
}
}