Support for CNC Shield

examples/stepper_cnc_shield/stepper_cnc_shield.ino

@@ -0,0 +1,74 @@
+// From the pinout diagram
+
+// X: Step = 2, Direction = 5
+// Y: Step = 3, Direction = 6
+// Z: Step = 4, Direction = 7
+
+byte enablePin = 8;
+byte directionPin = 5;
+byte stepPin = 2;
+int numberOfSteps = 400;
+int pulseWidthMicros = 8;  // microseconds
+int millisBetweenSteps = 8; // milliseconds
+
+long previousMillis = 0;
+bool forward = true;
+int stepCount = 0;
+bool enabled = true;
+
+/**********************
+   void setup() - Initialisations
+ ***********************/
+void setup() {
+
+  //  Setup
+
+  Serial.begin( 9600 );
+  Serial.println("Starting StepperTest");
+
+  delay(2000);
+
+  pinMode(directionPin, OUTPUT);
+  pinMode(stepPin, OUTPUT);
+  pinMode(enablePin, OUTPUT);
+
+  // Initialise the step count
+
+  int stepCount = 0;
+
+}
+
+void loop() {
+
+  // Avoid using delay as this seems to break the servo
+
+  unsigned long currentMillis = millis();
+
+  if (enabled == true) {
+    if (currentMillis - previousMillis > millisBetweenSteps) {
+      previousMillis = currentMillis;
+
+      if (forward == true) {
+        stepCount = stepCount + 1;
+        if (stepCount > numberOfSteps) {
+          forward = false;
+        }
+        digitalWrite(directionPin, HIGH);
+      }
+      else
+      {
+        stepCount = stepCount - 1;
+        if (stepCount < 1) {
+          enabled = false;
+          digitalWrite(enablePin, HIGH);
+        }
+        digitalWrite(directionPin, LOW);
+      }
+
+      digitalWrite(stepPin, HIGH);
+      //delayMicroseconds(pulseWidthMicros); // this line is probably unnecessary
+      digitalWrite(stepPin, LOW);
+
+    }
+  }
+}

library.properties

@@ -1,8 +1,8 @@
 name=Stepper
-version=1.1.3
+version=1.2.0
 author=Arduino
 maintainer=Arduino <info@arduino.cc>
-sentence=Allows Arduino boards to control a variety of stepper motors. 
+sentence=Allows Arduino boards to control a variety of stepper motors and stepper shields.
 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

src/Stepper.cpp

@@ -1,5 +1,5 @@
 /*
- * Stepper.cpp - Stepper library for Wiring/Arduino - Version 1.1.0
+ * Stepper.cpp - Stepper library for Wiring/Arduino - Version 1.2.0
  *
  * Original library        (0.1)   by Tom Igoe.
  * Two-wire modifications  (0.2)   by Sebastian Gassner
@@ -8,6 +8,7 @@
  * High-speed stepping mod         by Eugene Kozlenko
  * Timer rollover fix              by Eugene Kozlenko
  * Five phase five wire    (1.1.0) by Ryan Orendorff
+ * CNC shields             (1.2.0) by Jeremy Green
  *
  * This library is free software; you can redistribute it and/or
  * modify it under the terms of the GNU Lesser General Public
@@ -73,11 +74,48 @@
  * The circuits can be found at
  *
  * https://docs.arduino.cc/learn/electronics/stepper-motors#circuit
+ *
+ * Add support to use CNC shields where only 2 pins are used axis and direction
+ *
  */
 
 #include "Arduino.h"
 #include "Stepper.h"
 
+/*
+ * three-wire constructor
+ * Sets which wires should control the motor.
+ */
+Stepper::Stepper(int number_of_steps, int axis_pin, int direction_pin, int enable_pin)
+{
+  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 = axis_pin;
+  this->motor_pin_2 = direction_pin;
+  this->motor_pin_3 = enable_pin;
+
+  // Indicate that a shield is being used
+  this->shield = shield;
+
+  // setup the pins on the microcontroller:
+  pinMode(this->motor_pin_1, OUTPUT);
+  pinMode(this->motor_pin_2, OUTPUT);
+  pinMode(this->motor_pin_3, OUTPUT);
+
+  // When there are only 3 pins, set the others to 0:
+
+  this->motor_pin_4 = 0;
+  this->motor_pin_5 = 0;
+
+  // pin_count is used by the stepMotor() method:
+  this->pin_count = 1;
+
+}
+
 /*
  * two-wire constructor.
  * Sets which wires should control the motor.
@@ -220,6 +258,8 @@ void Stepper::step(int steps_to_move)
       // step the motor to step number 0, 1, ..., {3 or 10}
       if (this->pin_count == 5)
         stepMotor(this->step_number % 10);
+	  else if (this->pin_count == 1)
+        stepMotor(direction);
       else
         stepMotor(this->step_number % 4);
     }
@@ -231,6 +271,21 @@ void Stepper::step(int steps_to_move)
  */
 void Stepper::stepMotor(int thisStep)
 {
+  if (this->pin_count == 1) {
+    switch (thisStep) {
+      case 0:  // 01 backwards
+        digitalWrite(motor_pin_1, HIGH);
+        digitalWrite(motor_pin_2, HIGH);
+		digitalWrite(motor_pin_1, LOW);
+      break;
+      case 1:  // 00 forwards
+        digitalWrite(motor_pin_1, HIGH);
+        digitalWrite(motor_pin_2, LOW);
+	    digitalWrite(motor_pin_1, LOW);
+      break;
+    }
+  }
+
   if (this->pin_count == 2) {
     switch (thisStep) {
       case 0:  // 01
@@ -251,6 +306,7 @@ void Stepper::stepMotor(int thisStep)
       break;
     }
   }
+
   if (this->pin_count == 4) {
     switch (thisStep) {
       case 0:  // 1010
@@ -361,5 +417,18 @@ void Stepper::stepMotor(int thisStep)
 */
 int Stepper::version(void)
 {
-  return 5;
+  return 6;
 }
+
+/*
+  enable(bool) enables or disables all stepper
+ */
+ void Stepper::enable(bool state){
+	 if (state == true){
+		 digitalWrite(motor_pin_3, LOW);
+	 }
+	 else {		 
+	     digitalWrite(motor_pin_3, HIGH);
+	 }	 
+ }
+

src/Stepper.h

@@ -8,6 +8,7 @@
  * High-speed stepping mod         by Eugene Kozlenko
  * Timer rollover fix              by Eugene Kozlenko
  * Five phase five wire    (1.1.0) by Ryan Orendorff
+ * CNC shields             (1.2.0) by Jeremy Green
  *
  * This library is free software; you can redistribute it and/or
  * modify it under the terms of the GNU Lesser General Public
@@ -73,6 +74,9 @@
  * The circuits can be found at
  *
  * https://docs.arduino.cc/learn/electronics/stepper-motors#circuit
+ *
+ * Add support to use CNC shields where only 2 pins are used axis and direction
+ * 
  */
 
 // ensure this library description is only included once
@@ -83,6 +87,7 @@
 class Stepper {
   public:
     // constructors:
+	Stepper(int number_of_steps, int axis_pin, int direction_pin, int enable_pin);
     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);
@@ -95,26 +100,29 @@ class Stepper {
 
     // mover method:
     void step(int number_of_steps);
-
+
+	void enable(bool state);
+
     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
+    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
-
+    int motor_pin_5;              // Only 5 phase motor
+	  bool shield;				          // To support shields
     unsigned long last_step_time; // timestamp in us of when the last step was taken
+
 };
 
 #endif