Hardware Reference
In-Depth Information
Example 4-5. Changes to bipolar code to drive a unipolar stepper motor
(unipolarStepperMotor.diff)
var
controller
= [
"P9_11"
,
"P9_13"
,
"P9_15"
,
"P9_17"
];
var
states
= [[
1
,
1
,
0
,
0
], [
0
,
1
,
1
,
0
], [
0
,
0
,
1
,
1
], [
1
,
0
,
0
,
1
]];
var
curState
=
0
;
// Current state
var
ms
=
100
,
// Time between steps, in ms
max
=
22
,
// Number of steps to turn before turning around
The code in this example makes the following changes:
▪
controller
is attached to the
even
-numbered pins on the
P9
header rather
than the
odd
that the bipolar stepper used. (Doing this allows you to run both
types of stepper motors at the same time!)
▪ The
states
are different. Here, we have two pins high at a time.
▪ The time between steps (
ms
) is shorter, and the number of steps per direction
(
max
) is bigger. The unipolar stepper I'm using has many more steps per rotation,
so I need more steps to make it go around.
