Hardware Reference
In-Depth Information
Figure 4-9. Model of a bipolar stepper motor
ferent states listed in the previous paragraph. That is,
[1,0,0,0]
instructs to turn on
coil 1 in the forward direction. After it's been on for a while, you move to the next state,
[0,1,0,0]
. This turns off coil 1 and turns on coil 2. Then you go to
[0,0,1,0]
,
which turns on coil 1 in reverse, and so on. The H-bridge (see
Recipe 4.3
) takes care of re-
versing the coil: