void loop()
{
int modeType = 1; // This number increases by multiple of 2 each through the while loop..
// ..to identify our step mode type.
while (modeType<=8){ // loops the following block of code 4 times before repeating .
digitalWrite(DIR, LOW); // Set the direction change LOW to HIGH to go in opposite direction
digitalWrite(MS1, MS1_MODE(modeType)); // Set state of MS1 based on the returned value from the MS1_MODE() switch statement.
digitalWrite(MS2, MS2_MODE(modeType)); // Set state of MS2 based on the returned value from the MS2_MODE() switch statement.
digitalWrite(SLEEP, HIGH); // Set the Sleep mode to AWAKE.
int i = 0; // Set the counter variable.
while(i<(modeType*200)) // Iterate for 200, then 400, then 800, then 1600 steps.
// Then reset to 200 and start again.
{
digitalWrite(STEP, LOW); // This LOW to HIGH change is what creates the..
digitalWrite(STEP, HIGH); // .."Rising Edge" so the easydriver knows to when to step.
delayMicroseconds(1600/modeType); // This delay time determines the speed of the stepper motor.
// Delay shortens from 1600 to 800 to 400 to 200 then resets
i++;
}
modeType = modeType * 2; // Multiply the current modeType value by 2 and make the result the new value for modeType.
// This will make the modeType variable count 1,2,4,8 each time we pass though the while loop.
delay(500);
}
digitalWrite(SLEEP, LOW); // switch off the power to stepper
Serial.print("SLEEPING..");
delay(1000);
Serial.print("z");
delay(1000);
Serial.print("z");
delay(1000);
Serial.print("z");
delay(1000);
Serial.println("");
digitalWrite(SLEEP, HIGH);
Serial.println("AWAKE!!!"); // Switch on the power to stepper
delay(1000);
}
void EasyStepper::stepWithEasing(int numOfSteps, int type) {
switch(type) {
// Sine wave
case 0:
if((unsigned long)(micros() - previous_timer) >= 500) {
previous_timer = micros();
// Run motor
if(stepsRemaining > 0) {
// Is it time to microstep yet?
if(stepsRemaining == numOfSteps/_easingDivider && microStepping == 0) {
stepsRemaining *= 8;
digitalWrite(mMs1, MS1_MODE(8));
digitalWrite(mMs2, MS2_MODE(8));
microStepping = 1;
}
else if(stepsRemaining > numOfSteps/_easingDivider) {
if((timer+1) % _maxSpeed == 0) {
digitalWrite(mStep, LOW);
digitalWrite(mStep, HIGH);
stepsRemaining--;
}
}
else {
if((timer+1) % (currentSpeed/8) == 0) {
digitalWrite(mStep, LOW);
digitalWrite(mStep, HIGH);
stepsRemaining--;
currentSpeed = map(stepsRemaining, numOfSteps/_easingDivider, 1, _maxSpeed, _minSpeed);
}
}
}
}
break;
}
}
void EasyStepper::setMicrostepping(int fraction) {
MS1_MODE(fraction);
MS2_MODE(fraction);
}