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dodecastep.cpp
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*/
created as quadstep by Aaron Weiss, SparkFun electronics 2011
Beerware - do what you wish with this ish
Modified 2014 by Sebastian M. Strauch to control three Quadstepper motor boards in parallel
I like beer, too.
*/
//#include "WProgram.h"
#include "Arduino.h"
#include "dodecastep.h"
#define sbi(var, mask) ((var) |= (uint8_t)(1 << mask))
#define cbi(var, mask) ((var) &= (uint8_t)~(1 << mask))
#define STEPMIN 800
dodecastep::dodecastep()
{
pinMode(11, OUTPUT); //PB5
pinMode(5, OUTPUT); //PE3
pinMode(6, OUTPUT); //PH3
// pinMode(46, OUTPUT); //PL3 one more board might give us 4 more moters, if needed, but then the library shall be renamed hexakaidekastep
//make sure the step lines are low on startup
cbi(PORTB, 5);
cbi(PORTE, 3);
cbi(PORTH, 3);
// cbi(PORTL, 3);
Serial.begin(9600);
}
/////////////////////////////////////////////////////////
/////// Pin connections ///////////////////////////////
/////////////////////////////////////////////////////////
void dodecastep::board_pins(int bnum, int b_dir, int b_ms1, int b_ms2, int b_ms3)
{
if(bnum == 1)
{
pinMode(b_dir, OUTPUT);
pinMode(b_ms1, OUTPUT);
pinMode(b_ms2, OUTPUT);
pinMode(b_ms3, OUTPUT);
digitalWrite(b_dir, LOW);
_b_dir_1 = b_dir;
_b_ms_11 = b_ms1;
_b_ms_12 = b_ms2;
_b_ms_13 = b_ms3;
}
else if(bnum == 2)
{
pinMode(b_dir, OUTPUT);
pinMode(b_ms1, OUTPUT);
pinMode(b_ms2, OUTPUT);
pinMode(b_ms3, OUTPUT);
digitalWrite(b_dir, LOW);
_b_dir_2 = b_dir;
_b_ms_21 = b_ms1;
_b_ms_22 = b_ms2;
_b_ms_23 = b_ms3;
}
else if(bnum == 3)
{
pinMode(b_dir, OUTPUT);
pinMode(b_ms1, OUTPUT);
pinMode(b_ms2, OUTPUT);
pinMode(b_ms3, OUTPUT);
digitalWrite(b_dir, LOW);
_b_dir_3 = b_dir;
_b_ms_31 = b_ms1;
_b_ms_32 = b_ms2;
_b_ms_33 = b_ms3;
}
}
void dodecastep::motor_pins(int motnum,int motor_enable)
{
if(motnum == 1)
{
pinMode(motor_enable, OUTPUT);
digitalWrite(motor_enable, HIGH);
_motor_enable_1 = motor_enable;
}
else if(motnum == 2)
{
pinMode(motor_enable, OUTPUT);
digitalWrite(motor_enable, HIGH);
_motor_enable_2 = motor_enable;
}
else if(motnum == 3)
{
pinMode(motor_enable, OUTPUT);
digitalWrite(motor_enable, HIGH);
_motor_enable_3 = motor_enable;
}
else if(motnum == 4)
{
pinMode(motor_enable, OUTPUT);
digitalWrite(motor_enable, HIGH);
_motor_enable_4 = motor_enable;
}
else if(motnum == 5)
{
pinMode(motor_enable, OUTPUT);
digitalWrite(motor_enable, HIGH);
_motor_enable_5 = motor_enable;
}
else if(motnum == 6)
{
pinMode(motor_enable, OUTPUT);
digitalWrite(motor_enable, HIGH);
_motor_enable_6 = motor_enable;
}
else if(motnum == 7)
{
pinMode(motor_enable, OUTPUT);
digitalWrite(motor_enable, HIGH);
_motor_enable_7 = motor_enable;
}
else if(motnum == 8)
{
pinMode(motor_enable, OUTPUT);
digitalWrite(motor_enable, HIGH);
_motor_enable_8 = motor_enable;
}
else if(motnum == 9)
{
pinMode(motor_enable, OUTPUT);
digitalWrite(motor_enable, HIGH);
_motor_enable_9 = motor_enable;
}
else if(motnum == 10)
{
pinMode(motor_enable, OUTPUT);
digitalWrite(motor_enable, HIGH);
_motor_enable_10 = motor_enable;
}
else if(motnum == 11)
{
pinMode(motor_enable, OUTPUT);
digitalWrite(motor_enable, HIGH);
_motor_enable_11 = motor_enable;
}
else if(motnum == 12)
{
pinMode(motor_enable, OUTPUT);
digitalWrite(motor_enable, HIGH);
_motor_enable_12 = motor_enable;
}
else Serial.println("error: incorrect value for motor_pins, motor number"); //print error code
}
/////////////////////////////////////////////////////////
/////// Motor settings ///////////////////////////////
/////////////////////////////////////////////////////////
void dodecastep::motor_go(int motnum, int step_size, int number_of_steps, int torque)
{
_torque = torque;
if(motnum == 1) //1st motor on 1st board
{
// sets direction of rotation
int dir = (number_of_steps > 0) ? HIGH : LOW;
number_of_steps = abs(number_of_steps);
digitalWrite(_b_dir_1, dir);
// check to see what step size was selected
if(step_size == 1)
{
//sets speed
current_control(1);
//sets step_size
digitalWrite(_b_ms_11, LOW);
digitalWrite(_b_ms_12, LOW);
digitalWrite(_b_ms_13, LOW);
digitalWrite(_motor_enable_1, LOW); // enable motor 1
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTB, 5);
delayMicroseconds(step1); //high time
cbi(PORTB, 5);
delayMicroseconds(step1); // low time
}
cbi(PORTB, 5);
digitalWrite(_motor_enable_1, HIGH); // disable motor 1
}
else if(step_size == 2)
{
//sets speed
current_control(2);
digitalWrite(_b_ms_11, HIGH);
digitalWrite(_b_ms_12, LOW);
digitalWrite(_b_ms_13, LOW);
digitalWrite(_motor_enable_1, LOW);
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTB, 5);
delayMicroseconds(step2);
cbi(PORTB, 5);
delayMicroseconds(step2);
}
cbi(PORTB, 5);
digitalWrite(_motor_enable_1, HIGH);
}
else if(step_size == 4)
{
//sets speed
current_control(4);
digitalWrite(_b_ms_11, LOW);
digitalWrite(_b_ms_12, HIGH);
digitalWrite(_b_ms_13, LOW);
digitalWrite(_motor_enable_1, LOW);
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTB, 5);
delayMicroseconds(step4);
cbi(PORTB, 5);
delayMicroseconds(step4);
}
cbi(PORTB, 5);
digitalWrite(_motor_enable_1, HIGH);
}
else if(step_size == 8)
{
//sets speed
current_control(8);
digitalWrite(_b_ms_11, HIGH);
digitalWrite(_b_ms_12, HIGH);
digitalWrite(_b_ms_13, LOW);
digitalWrite(_motor_enable_1, LOW);
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTB, 5);
delayMicroseconds(step8);
cbi(PORTB, 5);
delayMicroseconds(step8);
}
cbi(PORTB, 5);
digitalWrite(_motor_enable_1, HIGH);
}
else if(step_size == 16)
{
//sets speed
current_control(16);
digitalWrite(_b_ms_11, HIGH);
digitalWrite(_b_ms_12, HIGH);
digitalWrite(_b_ms_13, HIGH);
digitalWrite(_motor_enable_1, LOW);
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTB, 5);
delayMicroseconds(step16);
cbi(PORTB, 5);
delayMicroseconds(step16);
}
cbi(PORTB, 5);
digitalWrite(_motor_enable_1, HIGH);
}
else Serial.println("error: incorrect value for step_size"); //print error code
}
if(motnum == 2) //2nd motor on 1st board
{
// sets direction of rotation
int dir = (number_of_steps > 0) ? HIGH : LOW;
number_of_steps = abs(number_of_steps);
digitalWrite(_b_dir_1, dir);
// check to see what setp size was selected
if(step_size == 1)
{
//sets speed
current_control(1);
digitalWrite(_b_ms_11, LOW);
digitalWrite(_b_ms_12, LOW);
digitalWrite(_b_ms_13, LOW);
digitalWrite(_motor_enable_2, LOW); // enable motor 1
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTB, 5);
delayMicroseconds(step1);
cbi(PORTB, 5);
delayMicroseconds(step1);
}
cbi(PORTB, 5);
digitalWrite(_motor_enable_2, HIGH); // disable motor 1
}
else if(step_size == 2)
{
//sets speed
current_control(2);
digitalWrite(_b_ms_11, HIGH);
digitalWrite(_b_ms_12, LOW);
digitalWrite(_b_ms_13, LOW);
digitalWrite(_motor_enable_2, LOW);
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTB, 5);
delayMicroseconds(step2); //low time
cbi(PORTB, 5);
delayMicroseconds(step2); // high time
}
cbi(PORTB, 5);
digitalWrite(_motor_enable_2, HIGH);
}
else if(step_size == 4)
{
//sets speed
current_control(4);
digitalWrite(_b_ms_11, LOW);
digitalWrite(_b_ms_12, HIGH);
digitalWrite(_b_ms_13, LOW);
digitalWrite(_motor_enable_2, LOW);
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTB, 5);
delayMicroseconds(step4); //low time
cbi(PORTB, 5);
delayMicroseconds(step4); // high time
}
cbi(PORTB, 5);
digitalWrite(_motor_enable_2, HIGH);
}
else if(step_size == 8)
{
//sets speed
current_control(8);
digitalWrite(_b_ms_11, HIGH);
digitalWrite(_b_ms_12, HIGH);
digitalWrite(_b_ms_13, LOW);
digitalWrite(_motor_enable_2, LOW);
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTB, 5);
delayMicroseconds(step8); //low time
cbi(PORTB, 5);
delayMicroseconds(step8); // high time
}
cbi(PORTB, 5);
digitalWrite(_motor_enable_2, HIGH);
}
else if(step_size == 16)
{
//sets speed
current_control(16);
digitalWrite(_b_ms_11, HIGH);
digitalWrite(_b_ms_12, HIGH);
digitalWrite(_b_ms_13, HIGH);
digitalWrite(_motor_enable_2, LOW);
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTB, 5);
delayMicroseconds(step16); //low time
cbi(PORTB, 5);
delayMicroseconds(step16); // high time
}
cbi(PORTB, 5);
digitalWrite(_motor_enable_2, HIGH);
}
else Serial.println("error: incorrect value for step_size"); //print error code
}
if(motnum == 3) //3rd motor on 1st board
{
// sets direction of rotation
int dir = (number_of_steps > 0) ? HIGH : LOW;
number_of_steps = abs(number_of_steps);
digitalWrite(_b_dir_1, dir);
// check to see what setp size was selected
if(step_size == 1)
{
//sets speed
current_control(1);
digitalWrite(_b_ms_11, LOW);
digitalWrite(_b_ms_12, LOW);
digitalWrite(_b_ms_13, LOW);
digitalWrite(_motor_enable_3, LOW); // enable motor 1
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTB, 5);
delayMicroseconds(step1); //high time
cbi(PORTB, 5);
delayMicroseconds(step1); //low time
}
cbi(PORTB, 5);
digitalWrite(_motor_enable_3, HIGH); // disable motor 1
}
else if(step_size == 2)
{
//sets speed
current_control(2);
digitalWrite(_b_ms_11, HIGH);
digitalWrite(_b_ms_12, LOW);
digitalWrite(_b_ms_13, LOW);
digitalWrite(_motor_enable_3, LOW);
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTB, 5);
delayMicroseconds(step2); //low time
cbi(PORTB, 5);
delayMicroseconds(step2); // high time
}
cbi(PORTB, 5);
digitalWrite(_motor_enable_3, HIGH);
}
else if(step_size == 4)
{
//sets speed
current_control(4);
digitalWrite(_b_ms_11, LOW);
digitalWrite(_b_ms_12, HIGH);
digitalWrite(_b_ms_13, LOW);
digitalWrite(_motor_enable_3, LOW);
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTB, 5);
delayMicroseconds(step4); //low time
cbi(PORTB, 5);
delayMicroseconds(step4); // high time
}
cbi(PORTB, 5);
digitalWrite(_motor_enable_3, HIGH);
}
else if(step_size == 8)
{
//sets speed
current_control(8);
digitalWrite(_b_ms_11, HIGH);
digitalWrite(_b_ms_12, HIGH);
digitalWrite(_b_ms_13, LOW);
digitalWrite(_motor_enable_3, LOW);
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTB, 5);
delayMicroseconds(step8); //low time
cbi(PORTB, 5);
delayMicroseconds(step8); // high time
}
cbi(PORTB, 5);
digitalWrite(_motor_enable_3, HIGH);
}
else if(step_size == 16)
{
//sets speed
current_control(16);
digitalWrite(_b_ms_11, HIGH);
digitalWrite(_b_ms_12, HIGH);
digitalWrite(_b_ms_13, HIGH);
digitalWrite(_motor_enable_3, LOW);
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTB, 5);
delayMicroseconds(step16); //low time
cbi(PORTB, 5);
delayMicroseconds(step16); // high time
}
cbi(PORTB, 5);
digitalWrite(_motor_enable_3, HIGH);
}
else Serial.println("error: incorrect value for step_size"); //print error code
}
if(motnum == 4) //4th motor on 1st board
{
// sets direction of rotation
int dir = (number_of_steps > 0) ? HIGH : LOW;
number_of_steps = abs(number_of_steps);
digitalWrite(_b_dir_1, dir);
// check to see what setp size was selected
if(step_size == 1)
{
//sets speed
current_control(1);
digitalWrite(_b_ms_11, LOW);
digitalWrite(_b_ms_12, LOW);
digitalWrite(_b_ms_13, LOW);
digitalWrite(_motor_enable_4, LOW);
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTB, 5);
delayMicroseconds(step1); //low time
cbi(PORTB, 5);
delayMicroseconds(step1); // high time
}
cbi(PORTB, 5);
digitalWrite(_motor_enable_4, HIGH);
}
else if(step_size == 2)
{
//sets speed
current_control(2);
digitalWrite(_b_ms_11, HIGH);
digitalWrite(_b_ms_12, LOW);
digitalWrite(_b_ms_13, LOW);
digitalWrite(_motor_enable_4, LOW);
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTB, 5);
delayMicroseconds(step2); //low time
cbi(PORTB, 5);
delayMicroseconds(step2); // high time
}
cbi(PORTB, 5);
digitalWrite(_motor_enable_4, HIGH);
}
else if(step_size == 4)
{
//sets speed
current_control(4);
digitalWrite(_b_ms_11, LOW);
digitalWrite(_b_ms_12, HIGH);
digitalWrite(_b_ms_13, LOW);
digitalWrite(_motor_enable_4, LOW);
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTB, 5);
delayMicroseconds(step4); //low time
cbi(PORTB, 5);
delayMicroseconds(step4); // high time
}
cbi(PORTB, 5);
digitalWrite(_motor_enable_4, HIGH);
}
else if(step_size == 8)
{
//sets speed
current_control(8);
digitalWrite(_b_ms_11, HIGH);
digitalWrite(_b_ms_12, HIGH);
digitalWrite(_b_ms_13, LOW);
digitalWrite(_motor_enable_4, LOW);
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTB, 5);
delayMicroseconds(step8); //low time
cbi(PORTB, 5);
delayMicroseconds(step8); // high time
}
cbi(PORTB, 5);
digitalWrite(_motor_enable_4, HIGH);
}
else if(step_size == 16)
{
//sets speed
current_control(16);
digitalWrite(_b_ms_11, HIGH);
digitalWrite(_b_ms_12, HIGH);
digitalWrite(_b_ms_13, HIGH);
digitalWrite(_motor_enable_4, LOW);
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTB, 5);
delayMicroseconds(step16); //low time
cbi(PORTB, 5);
delayMicroseconds(step16); // high time
}
cbi(PORTB, 5);
digitalWrite(_motor_enable_4, HIGH);
}
else Serial.println("error: incorrect value for step_size"); //print error code
}
if(motnum == 5) //1st motor on 2nd board
{
// sets direction of rotation
int dir = (number_of_steps > 0) ? HIGH : LOW;
number_of_steps = abs(number_of_steps);
digitalWrite(_b_dir_2, dir); //2nd board direction pinMode
// check to see what step size was selected
if(step_size == 1)
{
//sets speed
current_control(1);
//sets step_size
digitalWrite(_b_ms_21, LOW);
digitalWrite(_b_ms_22, LOW);
digitalWrite(_b_ms_23, LOW);
digitalWrite(_motor_enable_5, LOW); // enable motor 5
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTE, 3);
delayMicroseconds(step1); //high time
cbi(PORTE, 3);
delayMicroseconds(step1); // low time
}
cbi(PORTE, 3);
digitalWrite(_motor_enable_5, HIGH); // disable motor 5
}
else if(step_size == 2)
{
//sets speed
current_control(2);
digitalWrite(_b_ms_21, HIGH);
digitalWrite(_b_ms_22, LOW);
digitalWrite(_b_ms_23, LOW);
digitalWrite(_motor_enable_5, LOW);
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTE, 3);
delayMicroseconds(step2);
cbi(PORTE, 3);
delayMicroseconds(step2);
}
cbi(PORTE, 3);
digitalWrite(_motor_enable_5, HIGH);
}
else if(step_size == 4)
{
//sets speed
current_control(4);
digitalWrite(_b_ms_21, LOW);
digitalWrite(_b_ms_22, HIGH);
digitalWrite(_b_ms_23, LOW);
digitalWrite(_motor_enable_5, LOW);
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTE, 3);
delayMicroseconds(step4);
cbi(PORTE, 3);
delayMicroseconds(step4);
}
cbi(PORTE, 3);
digitalWrite(_motor_enable_5, HIGH);
}
else if(step_size == 8)
{
//sets speed
current_control(8);
digitalWrite(_b_ms_21, HIGH);
digitalWrite(_b_ms_22, HIGH);
digitalWrite(_b_ms_23, LOW);
digitalWrite(_motor_enable_5, LOW);
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTE, 3);
delayMicroseconds(step8);
cbi(PORTE, 3);
delayMicroseconds(step8);
}
cbi(PORTE, 3);
digitalWrite(_motor_enable_5, HIGH);
}
else if(step_size == 16)
{
//sets speed
current_control(16);
digitalWrite(_b_ms_21, HIGH);
digitalWrite(_b_ms_22, HIGH);
digitalWrite(_b_ms_23, HIGH);
digitalWrite(_motor_enable_5, LOW);
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTE, 3);
delayMicroseconds(step16);
cbi(PORTE, 3);
delayMicroseconds(step16);
}
cbi(PORTE, 3);
digitalWrite(_motor_enable_5, HIGH);
}
else Serial.println("error: incorrect value for step_size"); //print error code
}
if(motnum == 6) //2nd motor on 2nd board
{
// sets direction of rotation
int dir = (number_of_steps > 0) ? HIGH : LOW;
number_of_steps = abs(number_of_steps);
digitalWrite(_b_dir_2, dir); //2nd board direction pinMode
// check to see what step size was selected
if(step_size == 1)
{
//sets speed
current_control(1);
//sets step_size
digitalWrite(_b_ms_21, LOW);
digitalWrite(_b_ms_22, LOW);
digitalWrite(_b_ms_23, LOW);
digitalWrite(_motor_enable_6, LOW); // enable motor 6
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTE, 3);
delayMicroseconds(step1); //high time
cbi(PORTE, 3);
delayMicroseconds(step1); // low time
}
cbi(PORTE, 3);
digitalWrite(_motor_enable_5, HIGH); // disable motor 6
}
else if(step_size == 2)
{
//sets speed
current_control(2);
digitalWrite(_b_ms_21, HIGH);
digitalWrite(_b_ms_22, LOW);
digitalWrite(_b_ms_23, LOW);
digitalWrite(_motor_enable_6, LOW);
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTE, 3);
delayMicroseconds(step2);
cbi(PORTE, 3);
delayMicroseconds(step2);
}
cbi(PORTE, 3);
digitalWrite(_motor_enable_6, HIGH);
}
else if(step_size == 4)
{
//sets speed
current_control(4);
digitalWrite(_b_ms_21, LOW);
digitalWrite(_b_ms_22, HIGH);
digitalWrite(_b_ms_23, LOW);
digitalWrite(_motor_enable_6, LOW);
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTE, 3);
delayMicroseconds(step4);
cbi(PORTE, 3);
delayMicroseconds(step4);
}
cbi(PORTE, 3);
digitalWrite(_motor_enable_6, HIGH);
}
else if(step_size == 8)
{
//sets speed
current_control(8);
digitalWrite(_b_ms_21, HIGH);
digitalWrite(_b_ms_22, HIGH);
digitalWrite(_b_ms_23, LOW);
digitalWrite(_motor_enable_6, LOW);
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTE, 3);
delayMicroseconds(step8);
cbi(PORTE, 3);
delayMicroseconds(step8);
}
cbi(PORTE, 3);
digitalWrite(_motor_enable_6, HIGH);
}
else if(step_size == 16)
{
//sets speed
current_control(16);
digitalWrite(_b_ms_21, HIGH);
digitalWrite(_b_ms_22, HIGH);
digitalWrite(_b_ms_23, HIGH);
digitalWrite(_motor_enable_6, LOW);
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTE, 3);
delayMicroseconds(step16);
cbi(PORTE, 3);
delayMicroseconds(step16);
}
cbi(PORTE, 3);
digitalWrite(_motor_enable_6, HIGH);
}
else Serial.println("error: incorrect value for step_size"); //print error code
}
if(motnum == 7) //3rd motor on 2nd board
{
// sets direction of rotation
int dir = (number_of_steps > 0) ? HIGH : LOW;
number_of_steps = abs(number_of_steps);
digitalWrite(_b_dir_2, dir); //2nd board direction pinMode
// check to see what step size was selected
if(step_size == 1)
{
//sets speed
current_control(1);
//sets step_size
digitalWrite(_b_ms_21, LOW);
digitalWrite(_b_ms_22, LOW);
digitalWrite(_b_ms_23, LOW);
digitalWrite(_motor_enable_7, LOW); // enable motor 7
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTE, 3);
delayMicroseconds(step1); //high time
cbi(PORTE, 3);
delayMicroseconds(step1); // low time
}
cbi(PORTE, 3);
digitalWrite(_motor_enable_7, HIGH); // disable motor 7
}
else if(step_size == 2)
{
//sets speed
current_control(2);
digitalWrite(_b_ms_21, HIGH);
digitalWrite(_b_ms_22, LOW);
digitalWrite(_b_ms_23, LOW);
digitalWrite(_motor_enable_7, LOW);
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTE, 3);
delayMicroseconds(step2);
cbi(PORTE, 3);
delayMicroseconds(step2);
}
cbi(PORTE, 3);
digitalWrite(_motor_enable_7, HIGH);
}
else if(step_size == 4)
{
//sets speed
current_control(4);
digitalWrite(_b_ms_21, LOW);
digitalWrite(_b_ms_22, HIGH);
digitalWrite(_b_ms_23, LOW);
digitalWrite(_motor_enable_7, LOW);
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTE, 3);
delayMicroseconds(step4);
cbi(PORTE, 3);
delayMicroseconds(step4);
}
cbi(PORTE, 3);
digitalWrite(_motor_enable_7, HIGH);
}
else if(step_size == 8)
{
//sets speed
current_control(8);
digitalWrite(_b_ms_21, HIGH);
digitalWrite(_b_ms_22, HIGH);
digitalWrite(_b_ms_23, LOW);
digitalWrite(_motor_enable_7, LOW);
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTE, 3);
delayMicroseconds(step8);
cbi(PORTE, 3);
delayMicroseconds(step8);
}
cbi(PORTE, 3);
digitalWrite(_motor_enable_7, HIGH);
}
else if(step_size == 16)
{
//sets speed
current_control(16);
digitalWrite(_b_ms_21, HIGH);
digitalWrite(_b_ms_22, HIGH);
digitalWrite(_b_ms_23, HIGH);
digitalWrite(_motor_enable_7, LOW);
for(int i=1;i<=number_of_steps;i++)
{
//low to high transition moves one step
sbi(PORTE, 3);
delayMicroseconds(step16);
cbi(PORTE, 3);
delayMicroseconds(step16);
}
cbi(PORTE, 3);
digitalWrite(_motor_enable_7, HIGH);
}
else Serial.println("error: incorrect value for step_size"); //print error code
}