The header file:
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#ifndef Stepper_h
#define Stepper_h
class StepperMotor {
public:
StepperMotor(int In1, int In2, int In3, int In4); // Constructor that will set the inputs
void setStepDuration(int duration); // Function used to set the step duration in ms
void step(int noOfSteps); // Step a certain number of steps. + for one way and - for the other
int duration; // Step duration in ms
int inputPins[4]; // The input pin numbers
};
#endif
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The cpp file:
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#include <Arduino.h>
#include <StepperMotor.h>
StepperMotor::StepperMotor(int In1, int In2, int In3, int In4){
// Record pin numbers in the inputPins array
this->inputPins[0] = In1;
this->inputPins[1] = In2;
this->inputPins[2] = In3;
this->inputPins[3] = In4;
// Iterate through the inputPins array, setting each one to output mode
for(int inputCount = 0; inputCount < 4; inputCount++){
pinMode(this->inputPins[inputCount], OUTPUT);
}
duration = 50;
}
void StepperMotor::setStepDuration(int duration){
this->duration = duration;
}
void StepperMotor::step(int noOfSteps){
/*
The following 2D array represents the sequence that must be
used to acheive rotation. The rows correspond to each step, and
the columns correspond to each input. L
*/
bool sequence[][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}};
int factor = abs(noOfSteps) / noOfSteps; // If noOfSteps is +, factor = 1. If noOfSteps is -, factor = -1
noOfSteps = abs(noOfSteps); // If noOfSteps was in fact negative, make positive for future operations
/*
The following algorithm runs through the sequence the specified number
of times
*/
for(int sequenceNum = 0; sequenceNum <= noOfSteps/8; sequenceNum++){
for(int position = 0; ( position < 8 ) && ( position < ( noOfSteps - sequenceNum*8 )); position++){
delay(duration);
for(int inputCount = 0; inputCount < 4; inputCount++){
digitalWrite(this->inputPins[inputCount], sequence[(int)(3.5 - (3.5*factor) + (factor*position))][inputCount]);
}
}
}
}
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An implementation:
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#include <StepperMotor.h>
StepperMotor motor(8,9,10,11);
void setup(){
Serial.begin(9600);
motor.setStepDuration(1);
}
void loop(){
motor.step(1000);
delay(2000);
motor.step(-1000);
delay(2000);
}
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Wiring diagram:
