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examples/MotorShield/MotorShield.pde

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+// AFMotor_ConstantSpeed.pde
+// -*- mode: C++ -*-
+//
+// Shows how to use AccelStepper to control a 3-phase motor, such as a HDD spindle motor
+// using the Adafruit Motor Shield
+// http://www.ladyada.net/make/mshield/index.html.
+// Create a subclass of AccelStepper which controls the motor  pins via the
+// Motor Shield serial-to-parallel interface
+
+#include <AccelStepper.h>
+
+// Arduino pin names for interface to 74HCT595 latch
+// on Adafruit Motor Shield
+#define MOTORLATCH   12
+#define MOTORCLK     4
+#define MOTORENABLE  7
+#define MOTORDATA    8
+
+// PWM pins, also used to enable motor outputs
+#define PWM0A        5
+#define PWM0B        6
+#define PWM1A        9
+#define PWM1B        10
+#define PWM2A        11
+#define PWM2B        3
+
+
+// The main purpose of this class is to override setOutputPins to work with Adafruit Motor Shield
+class AFMotorShield : public AccelStepper
+{
+  public:
+  AFMotorShield(uint8_t interface = AccelStepper::FULL4WIRE, uint8_t pin1 = 2, uint8_t pin2 = 3, uint8_t pin3 = 4, uint8_t pin4 = 5); 
+
+  virtual void   setOutputPins(uint8_t mask);
+};
+
+
+AFMotorShield::AFMotorShield(uint8_t interface, uint8_t pin1, uint8_t pin2, uint8_t pin3, uint8_t pin4)
+    : AccelStepper(interface, pin1, pin2, pin3, pin4) 
+{
+    // Enable motor control serial to parallel latch
+    pinMode(MOTORLATCH, OUTPUT);
+    pinMode(MOTORENABLE, OUTPUT);
+    pinMode(MOTORDATA, OUTPUT);
+    pinMode(MOTORCLK, OUTPUT);
+    digitalWrite(MOTORENABLE, LOW);
+    
+    // enable both H bridges on motor 1
+    pinMode(PWM2A, OUTPUT);
+    pinMode(PWM2B, OUTPUT);
+    pinMode(PWM0A, OUTPUT);
+    pinMode(PWM0B, OUTPUT);
+    digitalWrite(PWM2A, HIGH);
+    digitalWrite(PWM2B, HIGH);
+    digitalWrite(PWM0A, HIGH);
+    digitalWrite(PWM0B, HIGH);
+
+    setOutputPins(0); // Reset
+};
+    
+// Use the AF Motor Shield serial-to-parallel to set the state of the motor pins
+// Caution: the mapping of AccelStepper pins to AF motor outputs is not
+// obvious:
+// AccelStepper     Motor Shield output
+// pin1                M4A
+// pin2                M1A
+// pin3                M2A
+// pin4                M3A
+// Caution this is pretty slow and limits the max speed of the motor to about 500/3 rpm
+void AFMotorShield::setOutputPins(uint8_t mask)
+{
+  uint8_t i;
+  
+  digitalWrite(MOTORLATCH, LOW);
+  digitalWrite(MOTORDATA, LOW);
+
+  for (i=0; i<8; i++) 
+  {
+    digitalWrite(MOTORCLK, LOW);
+
+    if (mask & _BV(7-i))
+      digitalWrite(MOTORDATA, HIGH);
+    else
+      digitalWrite(MOTORDATA, LOW);
+ 
+    digitalWrite(MOTORCLK, HIGH);
+  }
+  digitalWrite(MOTORLATCH, HIGH);
+}
+
+AFMotorShield stepper(AccelStepper::HALF3WIRE, 0, 0, 0, 0); // 3 phase HDD spindle drive
+
+void setup()
+{  
+   stepper.setMaxSpeed(500);	// divide by 3 to get rpm
+   stepper.setAcceleration(80);
+   stepper.moveTo(10000000);	
+}
+
+void loop()
+{  
+   stepper.run();
+}