-- -- Program: bipolar.jal library -- -- Date: 14 July 2000 -- -- Author: G. Shearer -- Vanderbilt University -- Nashville, TN -- -- Purpose: for driving both bipolar and unipolar stepper motors -- uses Allegro UDN2998 dual H bridge -- Copyright (C) 2000 G. Shearer -- -- This library is free software; you can redistribute it and/or -- modify it under the terms of the GNU Library General Public -- License as published by the Free Software Foundation; either -- version 2 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 -- Library General Public License for more details. -- -- You should have received a copy of the GNU Library General Public -- License along with this library; if not, write to the -- Free Software Foundation, Inc., 59 Temple Place - Suite 330, -- Boston, MA 02111-1307, USA. -- procedure stepout ( byte in seq, byte in speed ) is -- sends seq nibble to output if seq == 0 then port_a = 0b_0001 elsif seq == 1 then port_a = 0b_1001 elsif seq == 2 then port_a = 0b_0101 elsif seq == 3 then port_a = 0b_0110 elsif seq == 4 then port_a = 0b_0100 elsif seq == 5 then port_a = 0b_1000 elsif seq == 6 then port_a = 0b_0000 elsif seq == 7 then port_a = 0b_0010 else port_a = 0b_1010 end if delay_1ms( speed ) end procedure procedure fullforward ( byte in speed ) is -- makes one full step in the forward direction stepout( 1, speed ) stepout( 7, speed ) stepout( 5, speed ) stepout( 3, speed ) end procedure procedure fullreverse ( byte in speed ) is -- makes one full step in the reverse direction stepout( 3, speed ) stepout( 5, speed ) stepout( 7, speed ) stepout( 1, speed ) end procedure procedure halfstep ( bit in direction, byte in out seq, byte in speed ) is -- makes one half step in the proper direction and remembers which half step for 4 loop if direction == true & seq < 7 then seq = seq + 1 elsif direction == true & seq == 7 then seq = 0 elsif direction == false & seq > 0 then seq = seq - 1 elsif direction == false & seq == 0 then seq = 7 end if stepout ( seq, speed ) end loop end procedure procedure fullstep ( bit in direction, byte in speed ) is -- detects forward/reverse direction and calls proper fullstep procedure if direction == true then fullforward ( speed ) else fullreverse ( speed ) end if end procedure
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