added stepper example

diff --git a/Examples/Stepper_demo/Backup Of Stepper_demo.pdsbak b/Examples/Stepper_demo/Backup Of Stepper_demo.pdsbak
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diff --git a/Examples/Stepper_demo/Drive.png b/Examples/Stepper_demo/Drive.png
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diff --git a/Examples/Stepper_demo/Last Loaded Stepper_demo.pdsbak b/Examples/Stepper_demo/Last Loaded Stepper_demo.pdsbak
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diff --git a/Examples/Stepper_demo/Stepper_demo.PDF b/Examples/Stepper_demo/Stepper_demo.PDF
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index 0000000..101ca36
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diff --git a/Examples/Stepper_demo/Stepper_demo.pdsprj b/Examples/Stepper_demo/Stepper_demo.pdsprj
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index 0000000..d0b5607
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diff --git a/Examples/Stepper_demo/Stepper_demo.pdsprj.DESKTOP-Q6QBCIN.Cartogan.workspace b/Examples/Stepper_demo/Stepper_demo.pdsprj.DESKTOP-Q6QBCIN.Cartogan.workspace
new file mode 100644 (file)
index 0000000..b54f9c5
--- /dev/null
+++ b/Examples/Stepper_demo/Stepper_demo.pdsprj.DESKTOP-Q6QBCIN.Cartogan.workspace
@@ -0,0 +1,127 @@
+<?xml version='1.0' encoding='UTF-8' standalone='yes'?>\r
+<WORKSPACE>\r
+ <FRAME activewindow="0">\r
+  <PLACEMENT>2c0000000000000001000000ffffffffffffffffffffffffffffffff670000001a000000de06000010040000</PLACEMENT>\r
+  <WINDOW type="default" module="ISIS"/>\r
+ </FRAME>\r
+ <MODULE name="VSMDEBUG">\r
+  <PWI>\r
+   <POPUP w="668" x="166" flags="00008003" y="105" h="210" pid="0" iid="-1">\r
+    <PROPERTIES>\r
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+     <ITEM name="Source Column Width">107</ITEM>\r
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+    </PROPERTIES>\r
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+   <POPUP w="350" x="6" flags="00000032" y="114" h="100" pid="1" iid="-1">\r
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+     <ITEM name="Gridlines">Yes</ITEM>\r
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+     <ITEM name="ShowPreviousValues">No</ITEM>\r
+     <ITEM name="ShowTypes">No</ITEM>\r
+     <ITEM name="ShowWatchPoint">Yes</ITEM>\r
+     <ITEM name="TriggerMode">0</ITEM>\r
+     <ITEM name="Value Column Width">87</ITEM>\r
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+     <ITEM name="Watch Expression Column Width">87</ITEM>\r
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+   </POPUP>\r
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+    <PROPERTIES/>\r
+   </POPUP>\r
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+   </POPUP>\r
+   <POPUP w="1" x="6" flags="0000000a" y="114" h="2" pid="6" iid="1">\r
+    <PROPERTIES>\r
+     <ITEM name="DataType">2</ITEM>\r
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+     <ITEM name="DispFormat">2</ITEM>\r
+     <ITEM name="ShowChanges">Yes</ITEM>\r
+     <ITEM name="ShowToolTips">Yes</ITEM>\r
+     <ITEM name="TopLineAddress">00000000</ITEM>\r
+    </PROPERTIES>\r
+   </POPUP>\r
+   <POPUP w="1" x="6" flags="0000000a" y="114" h="2" pid="7" iid="1">\r
+    <PROPERTIES>\r
+     <ITEM name="DataType">2</ITEM>\r
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+     <ITEM name="ShowToolTips">Yes</ITEM>\r
+     <ITEM name="TopLineAddress">00000000</ITEM>\r
+    </PROPERTIES>\r
+   </POPUP>\r
+   <POPUP w="16" x="159" flags="00000000" y="285" h="32" pid="14" iid="1">\r
+    <PROPERTIES>\r
+     <ITEM name="DataType">2</ITEM>\r
+     <ITEM name="DispChars">Yes</ITEM>\r
+     <ITEM name="DispFormat">2</ITEM>\r
+     <ITEM name="ShowChanges">Yes</ITEM>\r
+     <ITEM name="ShowToolTips">Yes</ITEM>\r
+     <ITEM name="TopLineAddress">00000000</ITEM>\r
+    </PROPERTIES>\r
+   </POPUP>\r
+   <POPUP w="1" x="6" flags="0000000a" y="114" h="2" pid="4" iid="1">\r
+    <PROPERTIES>\r
+     <ITEM name="DataType">2</ITEM>\r
+     <ITEM name="DispChars">Yes</ITEM>\r
+     <ITEM name="DispFormat">2</ITEM>\r
+     <ITEM name="ShowChanges">Yes</ITEM>\r
+     <ITEM name="ShowToolTips">Yes</ITEM>\r
+     <ITEM name="TopLineAddress">00000100</ITEM>\r
+    </PROPERTIES>\r
+   </POPUP>\r
+   <POPUP w="1" x="6" flags="0000000a" y="114" h="1" pid="13" iid="1">\r
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+     <ITEM name="DataType">2</ITEM>\r
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+     <ITEM name="DispFormat">2</ITEM>\r
+     <ITEM name="ShowChanges">Yes</ITEM>\r
+     <ITEM name="ShowToolTips">Yes</ITEM>\r
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+   </POPUP>\r
+   <POPUP w="944" x="7" flags="0000002b" y="135" h="724" pid="1" iid="1">\r
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+     <ITEM name="ShowAddresses">Yes</ITEM>\r
+     <ITEM name="ShowGlobals">Yes</ITEM>\r
+     <ITEM name="ShowPreviousValues">No</ITEM>\r
+     <ITEM name="ShowTypes">No</ITEM>\r
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+  </PWI>\r
+ </MODULE>\r
+</WORKSPACE>\r

diff --git a/Examples/Stepper_demo/bipolar-vs-unipolar-stepper-motors.gif b/Examples/Stepper_demo/bipolar-vs-unipolar-stepper-motors.gif
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index 0000000..a13be32
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diff --git a/Examples/Stepper_demo/stepper_demo_delay/stepper_demo_delay.ino b/Examples/Stepper_demo/stepper_demo_delay/stepper_demo_delay.ino
new file mode 100644 (file)
index 0000000..b7ee2b0
--- /dev/null
+++ b/Examples/Stepper_demo/stepper_demo_delay/stepper_demo_delay.ino
@@ -0,0 +1,68 @@
+#include <inttypes.h>
+
+#define A1_PIN  9
+#define A2_PIN  8
+#define B1_PIN  11
+#define B2_PIN  10
+#define EN_PIN  12
+
+#define STEP_TIME 1000  // ms
+
+//#define FULL_STEP
+#define HALF_STEP
+
+#ifdef FULL_STEP
+#define NUM_STEPS 4
+const uint8_t coil_current[NUM_STEPS][4] =
+{
+    {1, 0, 0, 1}, 
+    {1, 1, 0, 0},
+    {0, 1, 1, 0},
+    {0, 0, 1, 1}
+};
+#endif
+
+#ifdef HALF_STEP
+#define NUM_STEPS 8
+const uint8_t coil_current[NUM_STEPS][4] =
+{
+    {1, 0, 0, 1}, 
+    {1, 0, 0, 0},
+    {1, 1, 0, 0},
+    {0, 1, 0, 0},
+    {0, 1, 1, 0}, 
+    {0, 0, 1, 0},
+    {0, 0, 1, 1},
+    {0, 0, 0, 1}
+};
+#endif
+
+const uint8_t stepper_pins[4] = {A2_PIN, A1_PIN, B1_PIN, B2_PIN};
+
+void setup()
+{
+    for (uint8_t i = 0; i < 4; i++)
+    {
+        pinMode(stepper_pins[i], OUTPUT);
+    }
+    pinMode(EN_PIN, OUTPUT);
+    digitalWrite(EN_PIN, HIGH);
+}
+
+void loop()
+{
+    static uint8_t step = 0;
+    
+    for (uint8_t i = 0; i < 4; i++)
+    {
+        digitalWrite(stepper_pins[i], coil_current[step][i]);
+    }
+    
+    step++;
+    if (step >= NUM_STEPS)
+    {
+        step = 0;
+    }
+    
+    delay(STEP_TIME);
+}\r

diff --git a/Examples/Stepper_demo/stepper_demo_timer/stepper_demo_timer.ino b/Examples/Stepper_demo/stepper_demo_timer/stepper_demo_timer.ino
new file mode 100644 (file)
index 0000000..a4e8741
--- /dev/null
+++ b/Examples/Stepper_demo/stepper_demo_timer/stepper_demo_timer.ino
@@ -0,0 +1,99 @@
+#include <inttypes.h>
+
+#define A1_PIN  9
+#define A2_PIN  8
+#define B1_PIN  11
+#define B2_PIN  10
+#define EN_PIN  12
+
+#define STEP_TIME 200  // ms, max 1000
+
+#define FULL_STEP
+//#define HALF_STEP
+
+#ifdef FULL_STEP
+#define NUM_STEPS 4
+const uint8_t coil_current[NUM_STEPS][4] =
+{
+    {1, 0, 0, 1}, 
+    {1, 1, 0, 0},
+    {0, 1, 1, 0},
+    {0, 0, 1, 1}
+};
+#endif
+
+#ifdef HALF_STEP
+#define NUM_STEPS 8
+const uint8_t coil_current[NUM_STEPS][4] =
+{
+    {1, 0, 0, 1}, 
+    {1, 0, 0, 0},
+    {1, 1, 0, 0},
+    {0, 1, 0, 0},
+    {0, 1, 1, 0}, 
+    {0, 0, 1, 0},
+    {0, 0, 1, 1},
+    {0, 0, 0, 1}
+};
+#endif
+
+void timer1_init(void);
+void stepper_init(void);
+
+const uint8_t stepper_pins[4] = {A2_PIN, A1_PIN, B1_PIN, B2_PIN};
+
+void setup()
+{
+    stepper_init();
+    timer1_init();
+}
+
+void loop()
+{}
+
+void timer1_init(void)
+{
+    // Disable interrupts during timer configuration
+    noInterrupts();
+    // Select CTC mode (4) and set the prescaler to divide the clock by 256
+    // resulting in timer frequency of 62.5 kHz
+    TCCR1A = 0;
+    TCCR1B = (1 << WGM12) | (1 << CS12);
+    // Enable interrupt when reaching the maximum value (OCR1A)
+    TIMSK1 = (1 << OCIE1A);
+    // Set the timer period to 50 ms (50 * 62.5 = 3125)
+    OCR1A = (int) STEP_TIME * 62.5;
+    // Reset OC register B and the input capture register. They are not used
+    ICR1 = OCR1B = 0;
+    // Reset the counter register
+    TCNT1 = 0;
+    // Enable inerrupts
+    interrupts();
+}
+
+ISR(TIMER1_COMPA_vect)
+{
+    static volatile uint8_t step = 0;
+    
+    for (uint8_t i = 0; i < 4; i++)
+    {
+        digitalWrite(stepper_pins[i], coil_current[step][i]);
+    }
+    
+    step++;
+    if (step >= NUM_STEPS)
+    {
+        step = 0;
+    }
+}
+
+void stepper_init(void)
+{
+    for (uint8_t i = 0; i < 4; i++)
+    {
+        pinMode(stepper_pins[i], OUTPUT);
+    }
+    pinMode(EN_PIN, OUTPUT);
+    digitalWrite(EN_PIN, HIGH);
+}
+\r

diff --git a/Examples/Stepper_demo/stepper_motor.jpg b/Examples/Stepper_demo/stepper_motor.jpg
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diff --git a/Examples/Stepper_demo/stepper_motor_animated.gif b/Examples/Stepper_demo/stepper_motor_animated.gif
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