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82d22bc574 ... 36b81b4342

18 changed files with 38 additions and 1200 deletions
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2
code/Barrier.cpp
View File

@ -21,8 +21,6 @@ class Barrier {
void configure_pins(){ void configure_pins(){
this->servo.attach(pin); this->servo.attach(pin);
this->servo.write(90);
this->state = CLOSED;
} }
void open(){ void open(){

40
code/ButtonController.cpp
View File

@ -1,40 +0,0 @@
#include <Arduino.h>
class ButtonController {
private:
int pin;
int new_value;
int old_value = HIGH;
public:
ButtonController(int pin){
this->set_pin(pin);
};
void configure_pins(){
pinMode(this->pin, INPUT_PULLUP);
}
void set_pin(int pin){
this->pin = pin;
}
void read(){
this->new_value = digitalRead(this->pin);
}
bool value_changed(){
return (this->new_value != this->old_value);
}
bool is_pressed(){
if(this->value_changed()){
bool is_pressed = (this->new_value == LOW);
this->old_value = this->new_value;
return is_pressed;
}
return this->new_value == LOW;
}
};

51
code/CarSpotController.cpp
View File

@ -1,51 +0,0 @@
class CarSpotController {
private:
int total_spots;
int occupied_spots;
public:
CarSpotController(int default_total_spots) {
this->set_total_spots(default_total_spots);
}
int get_total_spots() {
return this->total_spots;
}
void set_total_spots(int total_spots) {
this->total_spots = total_spots;
}
int get_occupied_spots() {
return this->occupied_spots;
}
void set_occupied_spots(int occupied_spots) {
this->occupied_spots = occupied_spots;
}
void increment_occupied_spots () {
this->occupied_spots++;
}
void increment_total_spots () {
this->total_spots++;
}
void decrement_total_spots () {
this->total_spots--;
}
void decrement_occupied_spots () {
this->occupied_spots--;
}
bool is_full() {
return this->occupied_spots == this->total_spots;
}
bool is_empty() {
return this->occupied_spots == 0;
}
};

2
code/DistSensor.cpp
View File

@ -9,7 +9,7 @@ class DistSensor {
void make_measurement(){ void make_measurement(){
digitalWrite(this->trig_pin, HIGH); digitalWrite(this->trig_pin, HIGH);
//delayMicroseconds(10); delayMicroseconds(10);
digitalWrite(this->trig_pin, LOW); digitalWrite(this->trig_pin, LOW);
} }

90
code/EncoderController.cpp
View File

@ -1,90 +0,0 @@
#include <Arduino.h>
enum EncoderDirection {
COUNTERCLOCKWISE = 2,
STOPPED = 0,
CLOCKWISE = 1,
};
enum ButtonState {
PRESSED = 0,
RELEASED = 1,
};
class EncoderController {
private:
int pin_clk;
int pin_dt;
int last_clk = HIGH;
int new_clk;
int dt_value;
EncoderDirection current_direction;
int pin_btn;
int button;
bool last_button_state = HIGH; // começa como solto
bool button_click_registered = false;
public:
EncoderController(int pin_dt, int pin_clk, int pin_btn) {
this->pin_dt = pin_dt;
this->pin_clk = pin_clk;
this->pin_btn = pin_btn;
}
void configure_pins() {
pinMode(this->pin_dt, INPUT_PULLUP);
pinMode(this->pin_clk, INPUT_PULLUP);
pinMode(this->pin_btn, INPUT_PULLUP);
}
bool clk_pin_changed(){
this->new_clk = digitalRead(this->pin_clk);
return this->new_clk != this->last_clk;
}
void read(){
if (this->clk_pin_changed()) {
this->last_clk = this->new_clk;
this->dt_value = digitalRead(this->pin_dt);
if (this->new_clk == LOW && this->dt_value == HIGH) {
this->current_direction = CLOCKWISE;
}
if (this->new_clk == LOW && this->dt_value == LOW) {
this->current_direction = COUNTERCLOCKWISE;
}
}
int current_state = digitalRead(this->pin_btn);
if (this->last_button_state == HIGH && current_state == LOW) {
this->button_click_registered = true;
}
this->last_button_state = current_state;
}
bool rotated_clockwise(){
if(this->current_direction == CLOCKWISE){
this->current_direction = STOPPED;
return true;
}
return false;
}
bool rotated_counterclockwise(){
if(this->current_direction == COUNTERCLOCKWISE){
this->current_direction = STOPPED;
return true;
}
return false;
}
bool button_pressed(){
if (this->button_click_registered) {
this->button_click_registered = false;
return true;
}
return false;
}
};

69
code/JoyStickController.cpp
View File

@ -1,69 +0,0 @@
#import "Arduino.h"
class JoystickController {
private:
int pin_x;
int pin_y;
int x = 1024 / 2;
int y = 1024 / 2;
public:
JoystickController(int pin_x, int pin_y) {
this->set_pin_x(pin_x);
this->set_pin_y(pin_y);
}
void configure_pins() {
pinMode(this->pin_x, INPUT);
pinMode(this->pin_y, INPUT);
}
int get_x() {
return this->x;
}
int get_y() {
return this->y;
}
void set_x(int x) {
this->x = x;
}
void set_y(int y) {
this->y = y;
}
int get_pin_x() {
return this->pin_x;
}
void set_pin_x(int pin_x) {
this->pin_x = pin_x;
}
int get_pin_y() {
return this->pin_y;
}
void set_pin_y(int pin_y) {
this->pin_y = pin_y;
}
void read(){
this->set_y(analogRead(this->pin_y));
this->set_x(analogRead(this->pin_x));
}
bool is_moving_right(){
this->read();
return this->get_x() < 512;
}
bool is_moving_left(){
this->read();
return this->get_x() > 512;
}
};

86
code/LCDScreen.cpp
View File

@ -2,26 +2,19 @@
#include <LiquidCrystal_I2C.h> #include <LiquidCrystal_I2C.h>
enum LCDScreenState { enum LCDScreenState {
DISPLAY_DEFAULT_MESSAGE = 0, DISPLAY_DEFAULT_MESSAGE,
DISPLAY_TEMPERATURE, DISPLAY_TEMPERATURE,
DISPLAY_PARKING_SPOTS, DISPLAY_PARKING_SPOTS
CONFIGURATION_SCREEN
}; };
class LCDScreen { class LCDScreen {
private: private:
LiquidCrystal_I2C lcd = LiquidCrystal_I2C(0x27,20,4); LiquidCrystal_I2C lcd = LiquidCrystal_I2C(0x27,20,4);
LCDScreenState current_state = 0; LCDScreenState state;
String default_message = "Bem vindo!"; String default_message = "Bem vindo!";
public: public:
LCDScreenState ordered_states[3] = {
DISPLAY_DEFAULT_MESSAGE,
DISPLAY_TEMPERATURE,
DISPLAY_PARKING_SPOTS
};
LCDScreen(String default_message = ""){ LCDScreen(String default_message = ""){
if (default_message != ""){ if (default_message != ""){
this->default_message = default_message; this->default_message = default_message;
@ -39,7 +32,10 @@ class LCDScreen {
} }
void display_temperature(float temp){ void display_temperature(float temp){
if (this->state != DISPLAY_TEMPERATURE){
this->clear();
this->state = DISPLAY_TEMPERATURE;
}
lcd.setCursor(0, 0); lcd.setCursor(0, 0);
lcd.print("Temp: "); lcd.print("Temp: ");
lcd.print(temp,1); lcd.print(temp,1);
@ -47,72 +43,12 @@ class LCDScreen {
} }
void display_default_message(){ void display_default_message(){
if (this->state != DISPLAY_DEFAULT_MESSAGE){
this->clear();
this->state = DISPLAY_DEFAULT_MESSAGE;
}
lcd.setCursor(0, 0); lcd.setCursor(0, 0);
lcd.print(this->default_message); lcd.print(this->default_message);
} }
void display_parking_spots(int total_spots, int occupied_spots){
int free_spots = total_spots - occupied_spots;
lcd.setCursor(0, 0);
lcd.print("Occupied: ");
lcd.print(occupied_spots);
lcd.print(" / ");
lcd.print(total_spots);
lcd.setCursor(0, 1);
lcd.print("Free: ");
lcd.print(free_spots);
}
void display_configuration_screen(int total_spots){
if (this->current_state != CONFIGURATION_SCREEN){
this->current_state = CONFIGURATION_SCREEN;
this->clear();
lcd.setCursor(0, 0);
lcd.print("Conf. Mode");
}
lcd.setCursor(0, 1);
lcd.print("Total Spots = ");
if (total_spots < 10){
lcd.print("0");
lcd.print(total_spots);
}else {
lcd.print(total_spots);
}
}
LCDScreenState get_next_state(){
if (this->current_state == 2){
return this->ordered_states[0];
}
return this->ordered_states[this->current_state + 1];
}
LCDScreenState get_previous_state(){
if (this->current_state == 0){
return this->ordered_states[2];
}
return this->ordered_states[this->current_state - 1];
}
void set_state(LCDScreenState state){
this->clear();
this->current_state = state;
}
void display(float temperature_in_c, int total_spots, int occupied_spots){
switch(this->current_state){
case DISPLAY_DEFAULT_MESSAGE:
this->display_default_message();
break;
case DISPLAY_TEMPERATURE:
this->display_temperature(temperature_in_c);
break;
case DISPLAY_PARKING_SPOTS:
this->display_parking_spots(total_spots, occupied_spots);
break;
}
}
}; };

133
code/code.ino
View File

@ -1,167 +1,56 @@
#include <Wire.h> #include <Wire.h>
#include <OneWire.h> #include <OneWire.h>
#include <DallasTemperature.h> #include <DallasTemperature.h>
#include <Stepper.h>
#include "Barrier.cpp"; #include "Barrier.cpp";
#include "DistSensor.cpp"; #include "DistSensor.cpp";
#include "LCDScreen.cpp"; #include "LCDScreen.cpp";
#include "CarSpotController.cpp";
#include "JoyStickController.cpp";
#include "ButtonController.cpp";
#include "EncoderController.cpp";
#define ULTRASONIC_SENSOR_PIN_TRIG 11 #define ULTRASONIC_SENSOR_PIN_TRIG 11
#define ULTRASONIC_SENSOR_PIN_ECHO 12 #define ULTRASONIC_SENSOR_PIN_ECHO 12
#define SERVO_PIN 10 #define SERVO_PIN 10
#define TEMP_SENSOR_PIN 9 #define TEMP_SENSOR_PIN 9
#define JOYSTICK_X_PIN A1
#define JOYSTICK_Y_PIN A0
#define BUZZER_PIN 3
#define BUTTON_PIN 8
#define STEPPER_B_MINUS_PIN 6
#define STEPPER_B_PLUS_PIN 5
#define STEPPER_A_PLUS_PIN 4
#define STEPPER_A_MINUS_PIN 2
#define ENCODER_CLK_PIN 7
#define ENCODER_DT_PIN A2
#define ENCODER_SW_PIN A3
#define PARK_SLOTS 3
#define STEP_MOTOR_STEPS 200
enum ProgramState {
CONFIG_MODE,
APP_MODE
};
OneWire oneWire(TEMP_SENSOR_PIN); OneWire oneWire(TEMP_SENSOR_PIN);
DallasTemperature temperature_sensors(&oneWire); DallasTemperature temperature_sensors(&oneWire);
DistSensor dist_sensor = DistSensor(ULTRASONIC_SENSOR_PIN_TRIG, ULTRASONIC_SENSOR_PIN_ECHO, 25.0); DistSensor dist_sensor = DistSensor(ULTRASONIC_SENSOR_PIN_TRIG, ULTRASONIC_SENSOR_PIN_ECHO, 25.0);
Barrier barrier = Barrier(SERVO_PIN, 2); Barrier barrier = Barrier(SERVO_PIN, 4);
LCDScreen screen = LCDScreen(); LCDScreen screen = LCDScreen();
CarSpotController car_spot_controller = CarSpotController(PARK_SLOTS);
JoystickController joystick = JoystickController(JOYSTICK_X_PIN, JOYSTICK_Y_PIN);
ButtonController button = ButtonController(BUTTON_PIN);
Stepper stepper(STEP_MOTOR_STEPS, STEPPER_B_MINUS_PIN, STEPPER_B_PLUS_PIN, STEPPER_A_PLUS_PIN, STEPPER_A_MINUS_PIN);
EncoderController encoder = EncoderController(ENCODER_DT_PIN, ENCODER_CLK_PIN,ENCODER_SW_PIN);
unsigned long current_time, sensor_last_time_readed, barrier_last_time_opened, temperature_last_time_measured, joystick_last_time_activated, joystick_last_time_readed, screen_last_time_updated, encoder_last_time_readed; unsigned long current_time, sensor_last_time_activated, temperature_last_time_measured;
float temperature_in_c = 0; float temperature_in_c = 0;
ProgramState program_state = CONFIG_MODE;
void setup() { void setup() {
Serial.begin(115200); Serial.begin(9600);
dist_sensor.configure_pins(); dist_sensor.configure_pins();
barrier.configure_pins(); barrier.configure_pins();
temperature_sensors.begin(); temperature_sensors.begin();
joystick.configure_pins();
button.configure_pins();
stepper.setSpeed(60);
encoder.configure_pins();
screen.init(); screen.init();
} }
void loop() { void loop() {
current_time = millis(); current_time = millis();
switch (program_state){ if (dist_sensor.is_in_range()){
case CONFIG_MODE: sensor_last_time_activated = current_time;
run_config_mode(); if(barrier.is_closed()){
break;
case APP_MODE:
run_program();
break;
}
}
void run_config_mode (){
static bool is_first_time = true;
if (is_first_time){
screen.display_configuration_screen(car_spot_controller.get_total_spots());
is_first_time = false;
}
encoder.read();
if (encoder.rotated_clockwise()){
if (car_spot_controller.get_total_spots() < 15){
car_spot_controller.increment_total_spots();
screen.display_configuration_screen(car_spot_controller.get_total_spots());
}
}
if (encoder.rotated_counterclockwise()){
if (car_spot_controller.get_total_spots() > 1 && car_spot_controller.get_occupied_spots() < car_spot_controller.get_total_spots()){
car_spot_controller.decrement_total_spots();
screen.display_configuration_screen(car_spot_controller.get_total_spots());
}
}
if (encoder.button_pressed()){
program_state = APP_MODE;
screen.set_state(0);
return;
}
}
void run_program(){
button.read();
if (button.is_pressed()){
barrier_last_time_opened = current_time;
if (!car_spot_controller.is_empty() && barrier.is_closed()){
barrier.open(); barrier.open();
stepper.step(STEP_MOTOR_STEPS);
car_spot_controller.decrement_occupied_spots();
} }
} } else if (!dist_sensor.is_in_range() && barrier.is_open()){
if (current_time - sensor_last_time_activated >= barrier.open_time_seconds * 1000){
if (current_time - sensor_last_time_readed >= 1000){ barrier.close();
if (dist_sensor.is_in_range()){
barrier_last_time_opened = current_time;
if(barrier.is_closed()){
if (!car_spot_controller.is_full()){
barrier.open();
car_spot_controller.increment_occupied_spots();
stepper.step(STEP_MOTOR_STEPS);
}else{
tone(BUZZER_PIN, 262, 500);
}
}
} else if (!dist_sensor.is_in_range() && barrier.is_open()){
if (current_time - barrier_last_time_opened >= barrier.open_time_seconds * 1000 && !button.is_pressed()){
barrier.close();
stepper.step(-STEP_MOTOR_STEPS);
}
} }
} }
if (current_time - temperature_last_time_measured >= 1000){ if (current_time - temperature_last_time_measured >= 1000){
temperature_last_time_measured = current_time; temperature_last_time_measured = current_time;
temperature_sensors.setWaitForConversion(false);
temperature_sensors.requestTemperatures(); temperature_sensors.requestTemperatures();
temperature_in_c = temperature_sensors.getTempCByIndex(0); temperature_in_c = temperature_sensors.getTempCByIndex(0);
} }
if (joystick.is_moving_right() && current_time - joystick_last_time_activated >= 450){ screen.display_temperature(temperature_in_c);
joystick_last_time_activated = current_time;
screen.set_state((screen.get_next_state()));
}
if (joystick.is_moving_left() && current_time - joystick_last_time_activated >= 450){
joystick_last_time_activated = current_time;
screen.set_state(screen.get_previous_state());
}
if (current_time - screen_last_time_updated >= 500){
screen_last_time_updated = current_time;
screen.display(temperature_in_c,car_spot_controller.get_total_spots(), car_spot_controller.get_occupied_spots());
}
encoder.read();
if (encoder.button_pressed()){
program_state = CONFIG_MODE;
screen.display_configuration_screen(car_spot_controller.get_total_spots());
return;
}
} }

37
diagram.json
View File

@ -34,8 +34,9 @@
{ {
"type": "wokwi-analog-joystick", "type": "wokwi-analog-joystick",
"id": "joystick1", "id": "joystick1",
"top": -115.8, "top": -99.1,
"left": -90.6, "left": -62.9,
"rotate": 90,
"attrs": {} "attrs": {}
}, },
{ {
@ -52,14 +53,6 @@
"left": 18.65, "left": 18.65,
"rotate": 90, "rotate": 90,
"attrs": { "value": "4700" } "attrs": { "value": "4700" }
},
{
"type": "wokwi-stepper-motor",
"id": "stepper1",
"top": -387.25,
"left": -376.54,
"rotate": 90,
"attrs": { "size": "14" }
} }
], ],
"connections": [ "connections": [
@ -87,10 +80,10 @@
[ "bb1:tp.9", "servo1:V+", "red", [ "v-94.1", "h7.6", "v-105.7" ] ], [ "bb1:tp.9", "servo1:V+", "red", [ "v-94.1", "h7.6", "v-105.7" ] ],
[ "bb1:tn.10", "servo1:GND", "black", [ "v0" ] ], [ "bb1:tn.10", "servo1:GND", "black", [ "v0" ] ],
[ "servo1:PWM", "uno:10", "orange", [ "h-124.8", "v-19", "h-58.3" ] ], [ "servo1:PWM", "uno:10", "orange", [ "h-124.8", "v-19", "h-58.3" ] ],
[ "joystick1:GND", "bb1:tn.36", "black", [ "v57.6", "h-55.6" ] ], [ "joystick1:GND", "bb1:tn.36", "black", [ "h0" ] ],
[ "joystick1:VCC", "bb1:tp.35", "red", [ "v48", "h-36.4" ] ], [ "joystick1:VCC", "bb1:tp.35", "red", [ "h0" ] ],
[ "joystick1:VERT", "bb1:42t.a", "green", [ "v67.2", "h-56.4" ] ], [ "joystick1:VERT", "bb1:42t.a", "green", [ "h0" ] ],
[ "joystick1:HORZ", "bb1:44t.a", "blue", [ "v67.2", "h-46.8" ] ], [ "joystick1:HORZ", "bb1:44t.a", "blue", [ "h0" ] ],
[ "bb1:42t.b", "uno:A0", "green", [ "v1.6", "h-327.6", "v-86.4", "h-51.8" ] ], [ "bb1:42t.b", "uno:A0", "green", [ "v1.6", "h-327.6", "v-86.4", "h-51.8" ] ],
[ "bb1:44t.c", "uno:A1", "blue", [ "v1.6", "h-337.2", "v-105.6", "h-51.9" ] ], [ "bb1:44t.c", "uno:A1", "blue", [ "v1.6", "h-337.2", "v-105.6", "h-51.9" ] ],
[ "lcd1:GND", "bb1:tn.28", "black", [ "h0" ] ], [ "lcd1:GND", "bb1:tn.28", "black", [ "h0" ] ],
@ -101,20 +94,16 @@
[ "bb1:57b.f", "bb1:57t.e", "black", [ "v0" ] ], [ "bb1:57b.f", "bb1:57t.e", "black", [ "v0" ] ],
[ "uno:9", "bb1:58t.d", "blue", [ "v480", "h519.2", "v-136" ] ], [ "uno:9", "bb1:58t.d", "blue", [ "v480", "h519.2", "v-136" ] ],
[ "bb1:58b.f", "bb1:58t.e", "violet", [ "v0" ] ], [ "bb1:58b.f", "bb1:58t.e", "violet", [ "v0" ] ],
[ "uno:A4", "bb1:37b.g", "gray", [ "v0" ] ], [ "btn1:1.l", "bb1:4t.c", "", [ "$bb" ] ],
[ "uno:A5", "bb1:38b.h", "purple", [ "v0" ] ], [ "btn1:2.l", "bb1:2t.c", "", [ "$bb" ] ],
[ "stepper1:A-", "uno:2", "green", [ "h0" ] ], [ "btn1:1.r", "bb1:4b.h", "", [ "$bb" ] ],
[ "stepper1:A+", "uno:4", "green", [ "h0" ] ], [ "btn1:2.r", "bb1:2b.h", "", [ "$bb" ] ],
[ "stepper1:B+", "uno:5", "green", [ "h0" ] ],
[ "stepper1:B-", "uno:6", "green", [ "h0" ] ],
[ "r1:1", "bb1:58b.g", "", [ "$bb" ] ], [ "r1:1", "bb1:58b.g", "", [ "$bb" ] ],
[ "temp1:GND", "bb1:57t.c", "", [ "$bb" ] ], [ "temp1:GND", "bb1:57t.c", "", [ "$bb" ] ],
[ "temp1:DQ", "bb1:58t.c", "", [ "$bb" ] ], [ "temp1:DQ", "bb1:58t.c", "", [ "$bb" ] ],
[ "temp1:VCC", "bb1:59t.c", "", [ "$bb" ] ], [ "temp1:VCC", "bb1:59t.c", "", [ "$bb" ] ],
[ "btn1:1.l", "bb1:4t.c", "", [ "$bb" ] ], [ "uno:A4", "bb1:37b.g", "gray", [ "v0" ] ],
[ "btn1:2.l", "bb1:2t.c", "", [ "$bb" ] ], [ "uno:A5", "bb1:38b.h", "purple", [ "v0" ] ]
[ "btn1:1.r", "bb1:4b.h", "", [ "$bb" ] ],
[ "btn1:2.r", "bb1:2b.h", "", [ "$bb" ] ]
], ],
"dependencies": {} "dependencies": {}
} }

26
libs/Stepper/README.adoc
View File

@ -1,26 +0,0 @@
= Stepper Library for Arduino =
This library allows you to control unipolar or bipolar stepper motors. To use it you will need a stepper motor, and the appropriate hardware to control it.
For more information about this library please visit us at
http://www.arduino.cc/en/Reference/Stepper
== License ==
Copyright (c) Arduino LLC. All right reserved.
Copyright (c) Sebastian Gassner. All right reserved.
Copyright (c) Noah Shibley. 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

39
libs/Stepper/examples/MotorKnob/MotorKnob.ino
View File

@ -1,39 +0,0 @@
/*
* MotorKnob
*
* A stepper motor follows the turns of a potentiometer
* (or other sensor) on analog input 0.
*
* http://www.arduino.cc/en/Reference/Stepper
* This example code is in the public domain.
*/
#include <Stepper.h>
// change this to the number of steps on your motor
#define STEPS 100
// create an instance of the stepper class, specifying
// the number of steps of the motor and the pins it's
// attached to
Stepper stepper(STEPS, 8, 9, 10, 11);
// the previous reading from the analog input
int previous = 0;
void setup() {
// set the speed of the motor to 30 RPMs
stepper.setSpeed(30);
}
void loop() {
// get the sensor value
int val = analogRead(0);
// move a number of steps equal to the change in the
// sensor reading
stepper.step(val - previous);
// remember the previous value of the sensor
previous = val;
}

44
libs/Stepper/examples/stepper_oneRevolution/stepper_oneRevolution.ino
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/*
Stepper Motor Control - one revolution
This program drives a unipolar or bipolar stepper motor.
The motor is attached to digital pins 8 - 11 of the Arduino.
The motor should revolve one revolution in one direction, then
one revolution in the other direction.
Created 11 Mar. 2007
Modified 30 Nov. 2009
by Tom Igoe
*/
#include <Stepper.h>
const int stepsPerRevolution = 200; // change this to fit the number of steps per revolution
// for your motor
// initialize the stepper library on pins 8 through 11:
Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11);
void setup() {
// set the speed at 60 rpm:
myStepper.setSpeed(60);
// initialize the serial port:
Serial.begin(9600);
}
void loop() {
// step one revolution in one direction:
Serial.println("clockwise");
myStepper.step(stepsPerRevolution);
delay(500);
// step one revolution in the other direction:
Serial.println("counterclockwise");
myStepper.step(-stepsPerRevolution);
delay(500);
}

44
libs/Stepper/examples/stepper_oneStepAtATime/stepper_oneStepAtATime.ino
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/*
Stepper Motor Control - one step at a time
This program drives a unipolar or bipolar stepper motor.
The motor is attached to digital pins 8 - 11 of the Arduino.
The motor will step one step at a time, very slowly. You can use this to
test that you've got the four wires of your stepper wired to the correct
pins. If wired correctly, all steps should be in the same direction.
Use this also to count the number of steps per revolution of your motor,
if you don't know it. Then plug that number into the oneRevolution
example to see if you got it right.
Created 30 Nov. 2009
by Tom Igoe
*/
#include <Stepper.h>
const int stepsPerRevolution = 200; // change this to fit the number of steps per revolution
// for your motor
// initialize the stepper library on pins 8 through 11:
Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11);
int stepCount = 0; // number of steps the motor has taken
void setup() {
// initialize the serial port:
Serial.begin(9600);
}
void loop() {
// step one step:
myStepper.step(1);
Serial.print("steps:");
Serial.println(stepCount);
stepCount++;
delay(500);
}

48
libs/Stepper/examples/stepper_speedControl/stepper_speedControl.ino
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/*
Stepper Motor Control - speed control
This program drives a unipolar or bipolar stepper motor.
The motor is attached to digital pins 8 - 11 of the Arduino.
A potentiometer is connected to analog input 0.
The motor will rotate in a clockwise direction. The higher the potentiometer value,
the faster the motor speed. Because setSpeed() sets the delay between steps,
you may notice the motor is less responsive to changes in the sensor value at
low speeds.
Created 30 Nov. 2009
Modified 28 Oct 2010
by Tom Igoe
*/
#include <Stepper.h>
const int stepsPerRevolution = 200; // change this to fit the number of steps per revolution
// for your motor
// initialize the stepper library on pins 8 through 11:
Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11);
int stepCount = 0; // number of steps the motor has taken
void setup() {
// nothing to do inside the setup
}
void loop() {
// read the sensor value:
int sensorReading = analogRead(A0);
// map it to a range from 0 to 100:
int motorSpeed = map(sensorReading, 0, 1023, 0, 100);
// set the motor speed:
if (motorSpeed > 0) {
myStepper.setSpeed(motorSpeed);
// step 1/100 of a revolution:
myStepper.step(stepsPerRevolution / 100);
}
}

28
libs/Stepper/keywords.txt
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#######################################
# Syntax Coloring Map For Test
#######################################
#######################################
# Datatypes (KEYWORD1)
#######################################
Stepper KEYWORD1 Stepper
#######################################
# Methods and Functions (KEYWORD2)
#######################################
step KEYWORD2
setSpeed KEYWORD2
version KEYWORD2
######################################
# Instances (KEYWORD2)
#######################################
direction KEYWORD2
speed KEYWORD2
#######################################
# Constants (LITERAL1)
#######################################

9
libs/Stepper/library.properties
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name=Stepper
version=1.1.3
author=Arduino
maintainer=Arduino <info@arduino.cc>
sentence=Allows Arduino boards to control a variety of stepper motors.
paragraph=This library allows you to control unipolar or bipolar stepper motors. To use it you will need a stepper motor, and the appropriate hardware to control it.
category=Device Control
url=http://www.arduino.cc/en/Reference/Stepper
architectures=*

365
libs/Stepper/src/Stepper.cpp
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/*
* Stepper.cpp - Stepper library for Wiring/Arduino - Version 1.1.0
*
* Original library (0.1) by Tom Igoe.
* Two-wire modifications (0.2) by Sebastian Gassner
* Combination version (0.3) by Tom Igoe and David Mellis
* Bug fix for four-wire (0.4) by Tom Igoe, bug fix from Noah Shibley
* High-speed stepping mod by Eugene Kozlenko
* Timer rollover fix by Eugene Kozlenko
* Five phase five wire (1.1.0) by Ryan Orendorff
*
* 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
*
*
* Drives a unipolar, bipolar, or five phase stepper motor.
*
* When wiring multiple stepper motors to a microcontroller, you quickly run
* out of output pins, with each motor requiring 4 connections.
*
* By making use of the fact that at any time two of the four motor coils are
* the inverse of the other two, the number of control connections can be
* reduced from 4 to 2 for the unipolar and bipolar motors.
*
* A slightly modified circuit around a Darlington transistor array or an
* L293 H-bridge connects to only 2 microcontroler pins, inverts the signals
* received, and delivers the 4 (2 plus 2 inverted ones) output signals
* required for driving a stepper motor. Similarly the Arduino motor shields
* 2 direction pins may be used.
*
* The sequence of control signals for 5 phase, 5 control wires is as follows:
*
* Step C0 C1 C2 C3 C4
* 1 0 1 1 0 1
* 2 0 1 0 0 1
* 3 0 1 0 1 1
* 4 0 1 0 1 0
* 5 1 1 0 1 0
* 6 1 0 0 1 0
* 7 1 0 1 1 0
* 8 1 0 1 0 0
* 9 1 0 1 0 1
* 10 0 0 1 0 1
*
* The sequence of control signals for 4 control wires is as follows:
*
* Step C0 C1 C2 C3
* 1 1 0 1 0
* 2 0 1 1 0
* 3 0 1 0 1
* 4 1 0 0 1
*
* The sequence of controls signals for 2 control wires is as follows
* (columns C1 and C2 from above):
*
* Step C0 C1
* 1 0 1
* 2 1 1
* 3 1 0
* 4 0 0
*
* The circuits can be found at
*
* http://www.arduino.cc/en/Tutorial/Stepper
*/
#include "Arduino.h"
#include "Stepper.h"
/*
* two-wire constructor.
* Sets which wires should control the motor.
*/
Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2)
{
this->step_number = 0; // which step the motor is on
this->direction = 0; // motor direction
this->last_step_time = 0; // time stamp in us of the last step taken
this->number_of_steps = number_of_steps; // total number of steps for this motor
// Arduino pins for the motor control connection:
this->motor_pin_1 = motor_pin_1;
this->motor_pin_2 = motor_pin_2;
// setup the pins on the microcontroller:
pinMode(this->motor_pin_1, OUTPUT);
pinMode(this->motor_pin_2, OUTPUT);
// When there are only 2 pins, set the others to 0:
this->motor_pin_3 = 0;
this->motor_pin_4 = 0;
this->motor_pin_5 = 0;
// pin_count is used by the stepMotor() method:
this->pin_count = 2;
}
/*
* constructor for four-pin version
* Sets which wires should control the motor.
*/
Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
int motor_pin_3, int motor_pin_4)
{
this->step_number = 0; // which step the motor is on
this->direction = 0; // motor direction
this->last_step_time = 0; // time stamp in us of the last step taken
this->number_of_steps = number_of_steps; // total number of steps for this motor
// Arduino pins for the motor control connection:
this->motor_pin_1 = motor_pin_1;
this->motor_pin_2 = motor_pin_2;
this->motor_pin_3 = motor_pin_3;
this->motor_pin_4 = motor_pin_4;
// setup the pins on the microcontroller:
pinMode(this->motor_pin_1, OUTPUT);
pinMode(this->motor_pin_2, OUTPUT);
pinMode(this->motor_pin_3, OUTPUT);
pinMode(this->motor_pin_4, OUTPUT);
// When there are 4 pins, set the others to 0:
this->motor_pin_5 = 0;
// pin_count is used by the stepMotor() method:
this->pin_count = 4;
}
/*
* constructor for five phase motor with five wires
* Sets which wires should control the motor.
*/
Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
int motor_pin_3, int motor_pin_4,
int motor_pin_5)
{
this->step_number = 0; // which step the motor is on
this->direction = 0; // motor direction
this->last_step_time = 0; // time stamp in us of the last step taken
this->number_of_steps = number_of_steps; // total number of steps for this motor
// Arduino pins for the motor control connection:
this->motor_pin_1 = motor_pin_1;
this->motor_pin_2 = motor_pin_2;
this->motor_pin_3 = motor_pin_3;
this->motor_pin_4 = motor_pin_4;
this->motor_pin_5 = motor_pin_5;
// setup the pins on the microcontroller:
pinMode(this->motor_pin_1, OUTPUT);
pinMode(this->motor_pin_2, OUTPUT);
pinMode(this->motor_pin_3, OUTPUT);
pinMode(this->motor_pin_4, OUTPUT);
pinMode(this->motor_pin_5, OUTPUT);
// pin_count is used by the stepMotor() method:
this->pin_count = 5;
}
/*
* Sets the speed in revs per minute
*/
void Stepper::setSpeed(long whatSpeed)
{
this->step_delay = 60L * 1000L * 1000L / this->number_of_steps / whatSpeed;
}
/*
* Moves the motor steps_to_move steps. If the number is negative,
* the motor moves in the reverse direction.
*/
void Stepper::step(int steps_to_move)
{
int steps_left = abs(steps_to_move); // how many steps to take
// determine direction based on whether steps_to_mode is + or -:
if (steps_to_move > 0) { this->direction = 1; }
if (steps_to_move < 0) { this->direction = 0; }
// decrement the number of steps, moving one step each time:
while (steps_left > 0)
{
unsigned long now = micros();
// move only if the appropriate delay has passed:
if (now - this->last_step_time >= this->step_delay)
{
// 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 == this->number_of_steps) {
this->step_number = 0;
}
}
else
{
if (this->step_number == 0) {
this->step_number = this->number_of_steps;
}
this->step_number--;
}
// decrement the steps left:
steps_left--;
// step the motor to step number 0, 1, ..., {3 or 10}
if (this->pin_count == 5)
stepMotor(this->step_number % 10);
else
stepMotor(this->step_number % 4);
}
}
}
/*
* Moves the motor forward or backwards.
*/
void Stepper::stepMotor(int thisStep)
{
if (this->pin_count == 2) {
switch (thisStep) {
case 0: // 01
digitalWrite(motor_pin_1, LOW);
digitalWrite(motor_pin_2, HIGH);
break;
case 1: // 11
digitalWrite(motor_pin_1, HIGH);
digitalWrite(motor_pin_2, HIGH);
break;
case 2: // 10
digitalWrite(motor_pin_1, HIGH);
digitalWrite(motor_pin_2, LOW);
break;
case 3: // 00
digitalWrite(motor_pin_1, LOW);
digitalWrite(motor_pin_2, LOW);
break;
}
}
if (this->pin_count == 4) {
switch (thisStep) {
case 0: // 1010
digitalWrite(motor_pin_1, HIGH);
digitalWrite(motor_pin_2, LOW);
digitalWrite(motor_pin_3, HIGH);
digitalWrite(motor_pin_4, LOW);
break;
case 1: // 0110
digitalWrite(motor_pin_1, LOW);
digitalWrite(motor_pin_2, HIGH);
digitalWrite(motor_pin_3, HIGH);
digitalWrite(motor_pin_4, LOW);
break;
case 2: //0101
digitalWrite(motor_pin_1, LOW);
digitalWrite(motor_pin_2, HIGH);
digitalWrite(motor_pin_3, LOW);
digitalWrite(motor_pin_4, HIGH);
break;
case 3: //1001
digitalWrite(motor_pin_1, HIGH);
digitalWrite(motor_pin_2, LOW);
digitalWrite(motor_pin_3, LOW);
digitalWrite(motor_pin_4, HIGH);
break;
}
}
if (this->pin_count == 5) {
switch (thisStep) {
case 0: // 01101
digitalWrite(motor_pin_1, LOW);
digitalWrite(motor_pin_2, HIGH);
digitalWrite(motor_pin_3, HIGH);
digitalWrite(motor_pin_4, LOW);
digitalWrite(motor_pin_5, HIGH);
break;
case 1: // 01001
digitalWrite(motor_pin_1, LOW);
digitalWrite(motor_pin_2, HIGH);
digitalWrite(motor_pin_3, LOW);
digitalWrite(motor_pin_4, LOW);
digitalWrite(motor_pin_5, HIGH);
break;
case 2: // 01011
digitalWrite(motor_pin_1, LOW);
digitalWrite(motor_pin_2, HIGH);
digitalWrite(motor_pin_3, LOW);
digitalWrite(motor_pin_4, HIGH);
digitalWrite(motor_pin_5, HIGH);
break;
case 3: // 01010
digitalWrite(motor_pin_1, LOW);
digitalWrite(motor_pin_2, HIGH);
digitalWrite(motor_pin_3, LOW);
digitalWrite(motor_pin_4, HIGH);
digitalWrite(motor_pin_5, LOW);
break;
case 4: // 11010
digitalWrite(motor_pin_1, HIGH);
digitalWrite(motor_pin_2, HIGH);
digitalWrite(motor_pin_3, LOW);
digitalWrite(motor_pin_4, HIGH);
digitalWrite(motor_pin_5, LOW);
break;
case 5: // 10010
digitalWrite(motor_pin_1, HIGH);
digitalWrite(motor_pin_2, LOW);
digitalWrite(motor_pin_3, LOW);
digitalWrite(motor_pin_4, HIGH);
digitalWrite(motor_pin_5, LOW);
break;
case 6: // 10110
digitalWrite(motor_pin_1, HIGH);
digitalWrite(motor_pin_2, LOW);
digitalWrite(motor_pin_3, HIGH);
digitalWrite(motor_pin_4, HIGH);
digitalWrite(motor_pin_5, LOW);
break;
case 7: // 10100
digitalWrite(motor_pin_1, HIGH);
digitalWrite(motor_pin_2, LOW);
digitalWrite(motor_pin_3, HIGH);
digitalWrite(motor_pin_4, LOW);
digitalWrite(motor_pin_5, LOW);
break;
case 8: // 10101
digitalWrite(motor_pin_1, HIGH);
digitalWrite(motor_pin_2, LOW);
digitalWrite(motor_pin_3, HIGH);
digitalWrite(motor_pin_4, LOW);
digitalWrite(motor_pin_5, HIGH);
break;
case 9: // 00101
digitalWrite(motor_pin_1, LOW);
digitalWrite(motor_pin_2, LOW);
digitalWrite(motor_pin_3, HIGH);
digitalWrite(motor_pin_4, LOW);
digitalWrite(motor_pin_5, HIGH);
break;
}
}
}
/*
version() returns the version of the library:
*/
int Stepper::version(void)
{
return 5;
}

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libs/Stepper/src/Stepper.h
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/*
* Stepper.h - Stepper library for Wiring/Arduino - Version 1.1.0
*
* Original library (0.1) by Tom Igoe.
* Two-wire modifications (0.2) by Sebastian Gassner
* Combination version (0.3) by Tom Igoe and David Mellis
* Bug fix for four-wire (0.4) by Tom Igoe, bug fix from Noah Shibley
* High-speed stepping mod by Eugene Kozlenko
* Timer rollover fix by Eugene Kozlenko
* Five phase five wire (1.1.0) by Ryan Orendorff
*
* 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
*
*
* Drives a unipolar, bipolar, or five phase stepper motor.
*
* When wiring multiple stepper motors to a microcontroller, you quickly run
* out of output pins, with each motor requiring 4 connections.
*
* By making use of the fact that at any time two of the four motor coils are
* the inverse of the other two, the number of control connections can be
* reduced from 4 to 2 for the unipolar and bipolar motors.
*
* A slightly modified circuit around a Darlington transistor array or an
* L293 H-bridge connects to only 2 microcontroler pins, inverts the signals
* received, and delivers the 4 (2 plus 2 inverted ones) output signals
* required for driving a stepper motor. Similarly the Arduino motor shields
* 2 direction pins may be used.
*
* The sequence of control signals for 5 phase, 5 control wires is as follows:
*
* Step C0 C1 C2 C3 C4
* 1 0 1 1 0 1
* 2 0 1 0 0 1
* 3 0 1 0 1 1
* 4 0 1 0 1 0
* 5 1 1 0 1 0
* 6 1 0 0 1 0
* 7 1 0 1 1 0
* 8 1 0 1 0 0
* 9 1 0 1 0 1
* 10 0 0 1 0 1
*
* The sequence of control signals for 4 control wires is as follows:
*
* Step C0 C1 C2 C3
* 1 1 0 1 0
* 2 0 1 1 0
* 3 0 1 0 1
* 4 1 0 0 1
*
* The sequence of controls signals for 2 control wires is as follows
* (columns C1 and C2 from above):
*
* Step C0 C1
* 1 0 1
* 2 1 1
* 3 1 0
* 4 0 0
*
* The circuits can be found at
*
* http://www.arduino.cc/en/Tutorial/Stepper
*/
// ensure this library description is only included once
#ifndef Stepper_h
#define Stepper_h
// library interface description
class Stepper {
public:
// constructors:
Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2);
Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
int motor_pin_3, int motor_pin_4);
Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
int motor_pin_3, int motor_pin_4,
int motor_pin_5);
// speed setter method:
void setSpeed(long whatSpeed);
// mover method:
void step(int number_of_steps);
int version(void);
private:
void stepMotor(int this_step);
int direction; // Direction of rotation
unsigned long step_delay; // delay between steps, in ms, based on speed
int number_of_steps; // total number of steps this motor can take
int pin_count; // how many pins are in use.
int step_number; // which step the motor is on
// motor pin numbers:
int motor_pin_1;
int motor_pin_2;
int motor_pin_3;
int motor_pin_4;
int motor_pin_5; // Only 5 phase motor
unsigned long last_step_time; // time stamp in us of when the last step was taken
};
#endif