Stepper motor lib

[Hans van Veldhuizen]

Several years ago i have made a stepper program mysellf for bipolar types. It worked but in a (very!) simple way. 

Now I have to change to unipolar types and i have tried the great 16F630_stepper_unipolar_blocked.jal in a 16F648 and 16F877a 

This works great but ik use 3 steppers commanded bij one PIC. (working one by one). I have studied the libs but it's to compilicated for me. 

Have someone already an example how to use this in my need?

Thanks 

Hans

[Hans van Veldhuizen]

Here is an example of the old one i have used untill now..

--------------------------------------------------------------------------------------------

--1877aa_stepper_test_2

include 16f877a                     -- target PICmicro

--

-- This program assumes that a 20 MHz resonator or crystal

-- is connected to pins OSC1 and OSC2.

pragma target clock 20_000_000      -- oscillator frequency

--

pragma target OSC      HS                        -- crystal or resonator

pragma target WDT      DISABLED                  -- watchdog

pragma target DEBUG    DISABLED                  -- no debugging

pragma target BROWNOUT DISABLED                  -- no brownout reset

pragma target LVP      DISABLED---ENABLED                   -- low voltage programming

--

-- The configuration bit settings above are only a selection, sufficient

-- for this program. Other programs may need more or different settings.

--

--

enable_digital_io()                 -- make all pins digital I/O

-- library with delay procedures

include delay

--

portA_low_direction = all_output   -- is V_stapper

portB_high_direction = all_output  -- is H_stapper

portD_low_direction = all_output  -- is D_stapper

portA_low = 0 -- V stapper

portB_high= 0  -- H stapper

portD_low = 0 -- V stapper

 

var byte step ----- variabele stapgrootte bij vol en half stap

var byte V_stapper = 0B_0001

var byte H_stapper = 0B_0001

var byte D_stapper = 0B_0001

var word actual_V_pos = 1

var word target_V_pos

var word actual_H_pos

var word target_H_pos

var word actual_D_pos

var word target_D_pos

var byte wacht_V = 1

var byte wacht_H = 1

var byte wacht_D = 1

include STEP_ROUTER_TEST

forever loop

 for 200 loop full_stap_V_up end loop

  delay_1S(1)

   

 for 200 loop full_stap_V_down end loop

  delay_1S(1)

 for 200 loop half_stap_V_up end loop

  delay_1S(1)

 for 200 loop half_stap_V_down end loop

  delay_1S(1)

-- can be repeated for H_up/down and D_up/down

-- actual_.._pos shows position

-- target ... pos is not used here

 delay_1S(2)

end loop

===============================================================================

and this one :

-- steprouter test

procedure stepper_motor_full_backward( byte in out x ,byte out y) is

x = x & 0b_1111

y = 0

if x == 0b_0001 then -- 1

x = 0b_0011

y=1

return

end if

if x == 0b_0011 then  -- 2

x = 0b_0110

y = 2

return

end if

if x == 0b_0010 then   -- 3

x = 0b_0110

y = 1

return

end if

if x == 0b_0110 then   -- 4

x = 0b_1100

y = 2

return

end if

if x == 0b_0100 then    -- 5

x = 0b_1100

y = 1

return

end if

if x == 0b_1100 then     -- 6

x = 0b_1001

y = 2

return

end if

if x == 0b_1000 then      -- 7

x = 0b_1001

y = 1

return

end if

if x == 0b_1001 then

x = 0b_0011               -- 8

y = 2

return

end if

x = 0b_0011

y = 0

end procedure

  --

procedure stepper_motor_full_forward( byte in out x ,byte out y) is

x = x & 0b_1111

y = 0

if x == 0b_1000 then -- 1

x = 0b_1100

y = 1

return

end if

if x == 0b_1100 then  -- 2

x = 0b_0110

y = 2

return

end if

if x == 0b_0100 then   -- 3

x = 0b_0110

y = 1

return

end if

if x == 0b_0110 then    -- 4

x = 0b_0011

y = 2

return

end if

if x == 0b_0010 then     -- 5

x = 0b_0011

y = 1

return

end if

if x == 0b_0011 then      -- 6

x = 0b_1001

y =2

return

end if

if x == 0b_0001 then       -- 7

x = 0b_1001

y = 1

return

end if

if x == 0b_1001 then

x = 0b_1100                -- 8

y = 2

return

end if

x = 0b_1100

y = 2

end procedure

--------------------

 procedure stepper_motor_half_backward( byte in out x,byte out y ) is

y = 1

x = x & 0b_1111

if x == 0b_0001 then --1

x = 0b_0011

return

end if

if x == 0b_0011 then -- 2

x = 0b_0010

return

end if

if x == 0b_0010 then  -- 3

x = 0b_0110

return

end if

if x == 0b_0110 then   -- 4

x = 0b_0100

return

end if

if x == 0b_0100 then    -- 5

x = 0b_1100

return

end if

if x == 0b_1100 then     -- 6

x = 0b_1000

return

end if

if x == 0b_1000 then      -- 7

x = 0b_1001

return

end if

if x == 1001 then

x = 0b_0001

return

end if

x = 0b_0001

end procedure

  --

procedure stepper_motor_half_forward( byte in out x,byte out y ) is

y = 1

x = x & 0b_1111

if x == 0b_1000 then  -- 1

x = 0b_1100

return

end if

if x == 0b_1100 then  -- 2

x = 0b_0100

return

end if

if x == 0b_0100 then  -- 3

x = 0b_0110

return

end if

if x == 0b_0110 then  -- 4

x = 0b_0010

return

end if

if x == 0b_0010 then  -- 5

x = 0b_0011

return

end if

if x == 0b_0011 then  -- 6

x = 0b_0001

return

end if

if x == 0b_0001 then  -- 7

x = 0b_1001

return

end if

if x == 0b_1001 then   -- 8

x = 0b_1000

return

end if

x = 0b_1000

end procedure

------------------

procedure full_stap_V_up is

Stepper_Motor_full_Forward (V_stapper, step)

portA_low = V_stapper

delay_1mS(wacht_V*2)

actual_V_pos = actual_V_pos + step

end procedure

procedure full_stap_V_down is

Stepper_Motor_full_Backward (V_stapper, step)

portA_low = V_stapper

actual_V_pos = actual_V_pos - step

delay_1mS(wacht_V*2)

end procedure

procedure full_stap_H_up is

Stepper_Motor_full_Backward (H_stapper,step)

portB_high = H_stapper

actual_H_pos = actual_H_pos + step

delay_1mS(wacht_H*2)

end procedure

procedure full_stap_H_down is

Stepper_Motor_full_Forward (H_stapper, step)

portB_high = H_stapper

actual_H_pos = actual_H_pos - step

delay_1mS(wacht_H*2)

end procedure

procedure full_stap_D_up is

Stepper_Motor_full_Backward (D_stapper,step)

portD_low = D_stapper

actual_D_pos = actual_D_pos + step

delay_1mS(wacht_D*2)

end procedure

procedure full_stap_D_down is

Stepper_Motor_full_Forward (D_stapper, step)

portD_low = D_stapper

actual_D_pos = actual_D_pos - step

delay_1mS(wacht_D*2)

end procedure

----------------------------------

procedure half_stap_V_up is

Stepper_Motor_half_Forward (V_stapper, step)

portA_low = V_stapper

actual_V_pos = actual_V_pos + step

delay_1mS(wacht_V)

end procedure

procedure half_stap_V_down is

Stepper_Motor_half_Backward (V_stapper,step)

portA_low = V_stapper

actual_V_pos = actual_V_pos - step

delay_1mS(wacht_V)

end procedure

procedure half_stap_H_up is

Stepper_Motor_half_Backward (H_stapper, step)

portB_high = H_stapper

actual_H_pos = actual_H_pos + step

delay_1mS(wacht_H)

end procedure

procedure half_stap_H_down is

Stepper_Motor_half_Forward (H_stapper, step)

portB_high = H_stapper

actual_H_pos = actual_H_pos -step

delay_1mS(wacht_H)

end procedure

procedure half_stap_D_up is

Stepper_Motor_half_Backward (D_stapper,step)

portD_low = D_stapper

actual_D_pos = actual_D_pos + step

delay_1mS(wacht_D)

end procedure

procedure half_stap_D_down is

Stepper_Motor_half_Forward (D_stapper, step)

portD_low = D_stapper

actual_D_pos = actual_D_pos - step

delay_1mS(wacht_D)

end procedure