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arduino-cli/libraries/Stepper2/README.adoc

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+= Stepper2 Library for Arduino IDE =
+
+This library allows you to control cheap 28BYJ-48 stepper motors.
+
+For more information about this library please visit us at
+https://github.com/udivankin/Stepper2
+
+== License ==
+
+Copyright (c) Alex Udivankin. All right reserved.
+
+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

arduino-cli/libraries/Stepper2/examples/Stepper2_oneTurn/stepper_oneRevolution/stepper_oneRevolution.ino

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+
+/*
+ Stepper Motor Control - one turn
+ */
+
+ #include <Stepper2.h>
+
+ const int rpm = 15; // max rpm on 28BYJ-48 is ~15
+ int pinOut[4] = { D1, D2, D5, D6 };
+
+ Stepper2 myStepper(pinOut);
+
+ void setup() {
+   Serial.begin(115200);
+   myStepper.setSpeed(rpm);
+ }
+
+ void loop() {
+   Serial.println("start");
+   myStepper.setDirection(0); // clock-wise
+   myStepper.turn();          // one full turn
+   myStepper.stop();
+   myStepper.setDirection(1); // counter-clock-wise
+   myStepper.turn(3);         // three full turns
+   myStepper.stop();
+   delay(15 * 1000);
+ }

arduino-cli/libraries/Stepper2/keywords.txt

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+#######################################
+# Syntax Coloring Map For Test
+#######################################
+
+#######################################
+# Datatypes (KEYWORD1)
+#######################################
+
+Stepper	KEYWORD1	Stepper2
+
+#######################################
+# Methods and Functions (KEYWORD2)
+#######################################
+
+step	KEYWORD2
+stop	KEYWORD2
+setSpeed	KEYWORD2
+version	KEYWORD2
+
+######################################
+# Instances (KEYWORD2)
+#######################################
+direction	KEYWORD2
+speed	KEYWORD2
+
+
+#######################################
+# Constants (LITERAL1)
+#######################################

arduino-cli/libraries/Stepper2/library.properties

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+name=Stepper2
+version=0.0.1
+author=udivankin
+maintainer=allx <allx@mail.ru>
+sentence=Allows compatible boards to control a cheap 28BYJ-48 stepper motor.
+paragraph=This library allows you to control cheap 28BYJ-48 stepper motor.
+category=Device Control
+url=https://github.com/udivankin/Stepper2
+architectures=*

arduino-cli/libraries/Stepper2/src/Stepper2.cpp

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+/*
+ * 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 < 4; 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 < 4; 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
+    if (now - this->last_step_time >= this->step_duration) {
+      // 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 == numberOfSteps) {
+          this->step_number = 0;
+        }
+      } else {
+        if (this->step_number == 0) {
+          this->step_number = numberOfSteps;
+        }
+        this->step_number--;
+      }
+      // decrement the steps left
+      stepsLeft--;
+      // step the motor to step number 0..8 according to step matrix
+      writeStep(stepMatrix[this->step_number % 8]);
+    }
+  }
+}
+
+/*
+ * Stops the motor (otherwize it will draw between 100 and 200ma when stopped)
+ */
+void Stepper2::stop()
+{
+  writeStep(allLows);
+}
+
+/*
+ * Make one full turn
+ */
+void Stepper2::turn()
+{
+  for (int i = 0; i < (stepsPerFullTurn / numberOfSteps); i++) {
+    step(numberOfSteps);
+    // Reset WDT timer, other way to do it on nodeMCU is;
+    // ESP.wdtDisable();
+    // ESP.wdtEnable(WDTO_8S);
+    delay(1);
+  }
+}
+
+/*
+ * Make given amount of full turns
+ */
+void Stepper2::turn(int turnsCount)
+{
+  for (int i = 0; i < turnsCount; i++) {
+    turn();
+  }
+}
+
+/*
+ *  version() returns the version of the library:
+ */
+int Stepper2::version(void)
+{
+  return 1;
+}

arduino-cli/libraries/Stepper2/src/Stepper2.h

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+/*
+ * 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
+ */
+
+// ensure this library description is only included once
+#ifndef Stepper2_h
+#define Stepper2_h
+
+// library interface description
+class Stepper2 {
+  public:
+    Stepper2(int motorPin[4]);        // constructors
+    void setSpeed(int rpm);           // speed setter method
+    void setDirection(int direction); // direction setter method
+    void step(int numberOfSteps);     // step method
+    void turn();                      // turn method
+    void turn(int turnsCount);        // turn method to given amount of turns
+    void stop();                      // stop method
+    int version();                    // version method
+
+  private:
+    void writeStep(int outArray[4]);  // write step pin matrix to output
+    int direction;                    // direction of rotation
+    unsigned long step_duration;      // target step duration, in ms, based on speed
+    int step_number;                  // which step the motor is on
+    int pin_matrix[4];                // pin matrix array
+    unsigned long last_step_time;     // time stamp in us of when the last step was taken
+};
+
+#endif