public void Step(int steps, Direction direction, StepStyle stepstyle)
{
var s_per_s = (int)(secPerStep * 1000);
if (stepstyle == StepStyle.Interleave)
{
s_per_s = s_per_s / 2;
}
//this.logger.WriteLn(String.Format("{0} millisec per step", s_per_s));
for (var s = 0; s < steps; s++)
{
this.OneStep(direction, stepstyle);
syncDelay.Sleep(5);
}
}
public int OneStep(Direction dir, StepStyle style)
{
switch (style)
{
case StepStyle.Single:
if ((currentstep / (MICROSTEPS / 2)) % 2 != 0)
{
//# we're at an odd step, weird
if (dir == Direction.Forward)
{
currentstep += MICROSTEPS / 2;
}
else
{
currentstep -= MICROSTEPS / 2;
}
}
else
{
// go to next even step
if (dir == Direction.Forward)
{
currentstep += MICROSTEPS;
}
else
{
currentstep -= MICROSTEPS;
}
}
break;
case StepStyle.Double:
if ((currentstep / (MICROSTEPS / 2) % 2) == 0)
{
//# we're at an even step, weird
if (dir == Direction.Forward)
{
currentstep += MICROSTEPS / 2;
}
else
{
currentstep -= MICROSTEPS / 2;
}
}
else
{
// go to next odd step
if (dir == Direction.Forward)
{
currentstep += MICROSTEPS;
}
else
{
currentstep -= MICROSTEPS;
}
}
break;
case StepStyle.Interleave:
if (dir == Direction.Forward)
{
currentstep += MICROSTEPS / 2;
}
else
{
currentstep -= MICROSTEPS / 2;
}
break;
}
//go to next 'step' and wrap around
currentstep += MICROSTEPS * MICROSTEPS_PER_INTERLEAVE_STEP;
currentstep %= MICROSTEPS * MICROSTEPS_PER_INTERLEAVE_STEP;
this.driver.SetPwm(pwmA, 4096, 0);
this.driver.SetPwm(pwmB, 4096, 0);
//set up coil energizing!
bool[][] step2coils =
{
new bool[] { true, false, false, false },
new bool[] { true, true, false, false },
new bool[] { false, true, false, false },
new bool[] { false, true, true, false },
new bool[] { false, false, true, false },
new bool[] { false, false, true, true },
new bool[] { false, false, false, true },
new bool[] { true, false, false, true }
};
var coils = step2coils[currentstep / MICROSTEPS_PER_INTERLEAVE_STEP];
// print "coils state = " + str(coils)
driver.SetPin(ain2, coils[0]);
driver.SetPin(bin1, coils[1]);
driver.SetPin(ain1, coils[2]);
driver.SetPin(bin2, coils[3]);
return(currentstep);
}
public int OneStep(Direction dir, StepStyle style)
{
switch (style)
{
case StepStyle.Single:
if ((currentstep / (MICROSTEPS / 2)) % 2 != 0)
{
//# we're at an odd step, weird
if (dir == Direction.Forward)
{
currentstep += MICROSTEPS / 2;
}
else
{
currentstep -= MICROSTEPS / 2;
}
}
else
{
// go to next even step
if (dir == Direction.Forward)
{
currentstep += MICROSTEPS;
}
else
{
currentstep -= MICROSTEPS;
}
}
break;
case StepStyle.Double:
if ((currentstep / (MICROSTEPS / 2) % 2) == 0)
{
//# we're at an even step, weird
if (dir == Direction.Forward)
{
currentstep += MICROSTEPS / 2;
}
else
{
currentstep -= MICROSTEPS / 2;
}
}
else
{
// go to next odd step
if (dir == Direction.Forward)
{
currentstep += MICROSTEPS;
}
else
{
currentstep -= MICROSTEPS;
}
}
break;
case StepStyle.Interleave:
if (dir == Direction.Forward)
{
currentstep += MICROSTEPS / 2;
}
else
{
currentstep -= MICROSTEPS / 2;
}
break;
}
//go to next 'step' and wrap around
currentstep += MICROSTEPS * MICROSTEPS_PER_INTERLEAVE_STEP;
currentstep %= MICROSTEPS * MICROSTEPS_PER_INTERLEAVE_STEP;
this.driver.SetPwm(pwmA, 4096, 0);
this.driver.SetPwm(pwmB, 4096, 0);
//set up coil energizing!
bool[][] step2coils = {
new bool[]{true, false, false, false },
new bool[]{true, true, false, false },
new bool[]{false, true, false, false },
new bool[]{false, true, true, false },
new bool[]{false, false, true, false },
new bool[]{false, false, true, true },
new bool[]{ false, false, false, true },
new bool[]{ true, false, false, true }
};
var coils = step2coils[currentstep / MICROSTEPS_PER_INTERLEAVE_STEP];
// print "coils state = " + str(coils)
driver.SetPin(ain2, coils[0]);
driver.SetPin(bin1, coils[1]);
driver.SetPin(ain1, coils[2]);
driver.SetPin(bin2, coils[3]);
return currentstep;
}
public void Step(int steps, Direction direction, StepStyle stepstyle)
{
var s_per_s = (int)(secPerStep * 1000);
if (stepstyle == StepStyle.Interleave)
{
s_per_s = s_per_s / 2;
}
//this.logger.WriteLn(String.Format("{0} millisec per step", s_per_s));
for (var s = 0; s < steps; s++)
{
this.OneStep(direction, stepstyle);
syncDelay.Sleep(5);
}
}