stepper motor program

Software/Arduino/StepperMotorDriver/.gitignore

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+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

Software/Arduino/StepperMotorDriver/.vscode/extensions.json

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+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ],
+    "unwantedRecommendations": [
+        "ms-vscode.cpptools-extension-pack"
+    ]
+}

Software/Arduino/StepperMotorDriver/include/README

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+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

Software/Arduino/StepperMotorDriver/lib/README

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+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into executable file.
+
+The source code of each library should be placed in a an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html

Software/Arduino/StepperMotorDriver/platformio.ini

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+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:uno]
+platform = atmelavr
+board = uno
+framework = arduino

Software/Arduino/StepperMotorDriver/src/main.cpp

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+#include <Arduino.h>
+#include "motorControl.hpp"
+
+// define your GPIO used here
+#define B0 13
+#define C0 14
+#define D0 15
+#define E0 19
+#define B1 18
+#define C1 17
+#define D1 16
+#define E1 5
+#define B2 6
+#define C2 7
+#define D2 8
+#define E2 9
+
+
+// define GPIO set of stepper motor
+int motorA[4] = {B0, C0, D0, E0};
+int motorB[4] = {B1, C1, D1, E1};
+int motorC[4] = {B2, C2, D2, E2};
+
+// Motor phase storage
+int phaseA = 0;
+int phaseB = 0;
+int phaseC = 0;
+
+// Motor status storage
+bool motorA_begin = false;
+bool motorB_begin = false;
+bool motorC_begin = false;
+
+bool motorA_forward = false;
+bool motorB_forward = false;
+bool motorC_forward = false;
+
+// Motor speed storage
+int delay_time = 10;
+
+// uart command receive
+bool stringComplete = false;
+String command = "";
+
+
+void setup() {
+  // setting up the GPIO
+  motorGPIOSetup(motorA);
+  motorGPIOSetup(motorB);
+  motorGPIOSetup(motorC);
+
+  // setting up the uart
+  Serial.begin(9600);
+}
+
+void loop() {
+  //** UART COMMAND **//
+  // read command
+  if (Serial.available()) {
+    char singleChar;
+    singleChar = Serial.read();
+    command += singleChar;
+    if(singleChar == 10){
+      stringComplete = true;
+    }
+  }
+
+
+  // if command receive completed
+  if(stringComplete){
+    // devide command into head and param
+    String command_head = command.substring(0,2);
+    int command_param= command.substring(2, command.length()).toInt();
+    if(command_head == "SP"){
+      delay_time = command_param;
+      Serial.print("Speed Set:");
+      Serial.println(delay_time);
+    }
+
+    // MotorA
+    else if(command_head == "AF"){
+      Serial.println("Motor A StepForwad 1.");
+      phaseA = phaseForward(phaseA);
+    }
+    else if(command_head == "AB"){
+      Serial.println("Motor A StepBackward 1.");
+      phaseA = phaseBackward(phaseA);
+    }
+    else if(command_head == "AG"){
+      Serial.println("Motor A Go.");
+      if(command_param == 0){
+        motorA_forward = true;
+      }
+      else{
+        motorA_forward = false;
+      }
+      motorA_begin = true;
+    }
+    else if(command_head == "AS"){
+      Serial.println("Motor A Stop.");
+      motorA_begin = false;
+    }
+
+    else if(command_head == "AR"){
+      Serial.println("Motor A Released.");
+      motorA_begin = false;
+      switchPhase(motorA, 8);
+      phaseA = 8;
+    }
+
+    // MotorB
+    else if(command_head == "BF"){
+      Serial.println("Motor B StepForwad 1.");
+      phaseB = phaseForward(phaseB);
+    }
+    else if(command_head == "BB"){
+      Serial.println("Motor B StepBackward 1.");
+      phaseB = phaseBackward(phaseB);
+    }
+    else if(command_head == "BG"){
+      Serial.println("Motor B Go.");
+      if(command_param == 0){
+        motorB_forward = true;
+      }
+      else{
+        motorB_forward = false;
+      }
+      motorB_begin = true;
+    }
+    else if(command_head == "BS"){
+      Serial.println("Motor B Stop.");
+      motorB_begin = false;
+    }
+
+    else if(command_head == "BR"){
+      Serial.println("Motor B Released.");
+      motorB_begin = false;
+      phaseB = 8;
+    }
+
+    // MotorC
+    else if(command_head == "CF"){
+      Serial.println("Motor C StepForwad 1.");
+      phaseC = phaseForward(phaseC);
+    }
+    else if(command_head == "CB"){
+      Serial.println("Motor C StepBackward 1.");
+      phaseC = phaseBackward(phaseC);
+    }
+    else if(command_head == "CG"){
+      Serial.println("Motor C Go.");
+      if(command_param == 0){
+        motorC_forward = true;
+      }
+      else{
+        motorC_forward = false;
+      }
+      motorC_begin = true;
+    }
+    else if(command_head == "CS"){
+      Serial.println("Motor C Stop.");
+      motorC_begin = false;
+    }
+
+    else if(command_head == "CR"){
+      Serial.println("Motor C Released.");
+      motorC_begin = false;
+      phaseC = 8;
+    }
+
+
+    command = "";
+    stringComplete = false;
+  }
+
+  //** LOOP CONTROL **//
+  if(motorA_begin){
+    if(motorA_forward){
+      phaseA = phaseForward(phaseA);
+    }
+    else{
+      phaseA = phaseBackward(phaseA);
+    }
+  }
+
+  if(motorB_begin){
+    if(motorB_forward){
+      phaseB = phaseForward(phaseB);
+    }
+    else{
+      phaseB = phaseBackward(phaseB);
+    }
+  }
+
+  if(motorC_begin){
+    if(motorC_forward){
+      phaseC = phaseForward(phaseC);
+    }
+    else{
+      phaseC = phaseBackward(phaseC);
+    }
+  }
+
+
+  switchPhase(motorA, phaseA);
+  switchPhase(motorB, phaseB);
+  switchPhase(motorC, phaseC);
+
+  delay(delay_time);
+}