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Simplify Stepper::stepMotor() #54

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Simplify Stepper::stepMotor() #54

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143 changes: 22 additions & 121 deletions src/Stepper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -233,128 +233,29 @@ void Stepper::step(int steps_to_move)
*/
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;
}
}
static PROGMEM const uint8_t phases[] = {
LOW, LOW, LOW, LOW, HIGH, HIGH, HIGH, HIGH, HIGH,
LOW, LOW, LOW, LOW, LOW, HIGH, HIGH, HIGH, HIGH
};

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;
}
switch (pin_count) {
case 2:
digitalWrite(motor_pin_1, (thisStep+1) & 2);
digitalWrite(motor_pin_2, (thisStep+2) & 2);
break;
case 4:
digitalWrite(motor_pin_4, (thisStep+0) & 2);
digitalWrite(motor_pin_2, (thisStep+1) & 2);
digitalWrite(motor_pin_3, (thisStep+2) & 2);
digitalWrite(motor_pin_1, (thisStep+3) & 2);
break;
case 5:
digitalWrite(motor_pin_1, pgm_read_byte(&phases[thisStep+0]));
digitalWrite(motor_pin_4, pgm_read_byte(&phases[thisStep+2]));
digitalWrite(motor_pin_2, pgm_read_byte(&phases[thisStep+4]));
digitalWrite(motor_pin_5, pgm_read_byte(&phases[thisStep+6]));
digitalWrite(motor_pin_3, pgm_read_byte(&phases[thisStep+8]));
break;
}
}

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