/*

   FILE: STEPPER.C Adapted from Stepper.c by P.Oh
   DESC: Speed and Positioning options for Stepper Motor



	 Port A has 5 lines attached and described as follows:



	 OP = PHASE       Line A.0   1  enable / 0 disable

	 HS = HALF STEP      Line A.1   2  enable / 0 disable

	 SI = STEP INPUT     Line A.2   4  enable / 0 disable

	 DR = DIRECTION      Line A.3   8  enable / 0 disable

	 OE : OUTPUT ENABLE  Line A.4   16 enable / 0  disable

*/



#include<stdio.h>

#include<stdlib.h>

#include<dos.h>          /* outportb, inportb defined here        */

#include<conio.h>        /* formatted text functions defined here */


void StepTheMotor(int, int, int);

void Selection(int, int, int);

void MoveToFixedAngle(int, int, int);

void Continuous(int, int, int);



void main(void) {



   int Sgnal;

   int BASEADDR;

   int PORTA, PORTB, PORTC;

   int CNTRL;

   int Choice;

   int StepsPerRev;

   int DR = 0;





   clrscr();            /* clear screen */

   window(5,5,75,30);   /* set up text window */



   gotoxy(1,1);

   cprintf("Enter Base Address (decimal) e.g. 608\n");

   gotoxy(1,2); scanf("%d", &BASEADDR);

   PORTA = BASEADDR;

   PORTB = BASEADDR + 1;

   PORTC = BASEADDR + 2;

   CNTRL = BASEADDR + 3;

   outportb(CNTRL, 128);   /* configure all ports for output */



   outportb(PORTB, 0);     /* Ports B and C not used, so just set to 0 */

   outportb(PORTC, 0);



   StepsPerRev = 96;

   Selection(PORTA, StepsPerRev, DR);



} /* end of main */







void Selection(int PORTA, int StepsPerRev, int DR) {



     /* Motor speed and position options */



     int DegPerStep;

     int Choice;



     clrscr();

     gotoxy(1,4); cprintf("Motor requires %d steps per rev\n", StepsPerRev);

     DegPerStep = (int)(360 / StepsPerRev);

     gotoxy(40,4); cprintf(" => thus 1 step = %d degrees\n", DegPerStep);



     do {

	 gotoxy(1,6); cprintf("(1) To rotate to a certain angle clockwise\n");

	 gotoxy(1,7); cprintf("(2) To rotate to a certain angle counter-clockwise\n");

	 gotoxy(1,8); cprintf("(3) To rotate continuously - with speed options\n");

	 gotoxy(1,9); cprintf("(4) To quit\n");

	 gotoxy(1,10); cprintf("Selection =>\n");

	 gotoxy(14,10); scanf("%d", &Choice);



	 switch(Choice) {

		case 1  : DR = 0;

			  MoveToFixedAngle(PORTA, DR, DegPerStep);

			  break;

		case 2  : DR = 8;

			  MoveToFixedAngle(PORTA, DR, DegPerStep);

			  break;

		case 3  : Continuous(PORTA, DR, StepsPerRev);

			  break;

		case 4  : outportb(PORTA, 16); /* shutdown all signals */

			  gotoxy(1,22); cprintf("Quitting\n");

			  exit(0);

		default : gotoxy(1,14); cprintf("Choose 1, 2, 3, or 4\n");

			  break;



	 }; /* end select */

     } while (1); /* can only exit Selection if user selects 4 */



}; /* end of Selection */



void MoveToFixedAngle(int PORTA, int DR, int DegPerStep) {



     int   Degrees;

     int   NumberOfSteps;

     char  *GetKey[2];

     int   WaitSomeTime = 0;

     int   i;



     clrscr();

     if(DR == 0) {

	gotoxy(1,4); cprintf("Will step CW fixed number of degrees\n");

     } else { /* DR is 8 */

	gotoxy(1,4); cprintf("Will step CCW fixed number of degrees\n");

     };

     gotoxy(1,5); cprintf("Enter number of degrees => ");

     gotoxy(28,5); scanf("%d", &Degrees);

     gotoxy(1,7); cprintf("Will step %d degrees", Degrees);

     gotoxy(1,8); cprintf("Hit a key to start");

     while (!kbhit());



     NumberOfSteps = (int)(Degrees / DegPerStep);

     for(i = 1; i <= NumberOfSteps; i++) {

	StepTheMotor(PORTA, DR, WaitSomeTime);

     };

     gotoxy(1,10); cprintf("Finished!");

     gotoxy(1,11); cprintf("Hit a key then <ENTER> to do another angle");

     gotoxy(42,11); cprintf("or q then <ENTER> to quit to main menu");

     scanf("%s", &GetKey);

     if(GetKey[0] == 'q' || GetKey[0] == 'Q') {

	   clrscr();

	   return;

     } else {

	   MoveToFixedAngle(PORTA, DR, DegPerStep);

     };



}; /* end of MoveToFixedAngle */



void Continuous(int PORTA, int DR, int StepsPerRev) {

     int WaitSomeTime;

     int TapKey;

     int SpeedGrade;

     int OE;



     clrscr();

     gotoxy(1,2); cprintf("Tap a key:");

     gotoxy(1,3); cprintf("(f)aster");

     gotoxy(1,4); cprintf("(s)lower");

     gotoxy(1,5); cprintf("(r)everse");

     gotoxy(1,6); cprintf("(q)quit to main menu");

     gotoxy(1,7);

     WaitSomeTime = 0;

     SpeedGrade = 1;



     do {

	  do {

		StepTheMotor(PORTA, DR, WaitSomeTime);

	  } while(!kbhit());

	  TapKey = getch();



	  switch(TapKey) {

		case 102 : /* hit f key */

			   WaitSomeTime = WaitSomeTime + 5;

			   if(WaitSomeTime >= 100) {

			       WaitSomeTime = 100;

			       gotoxy(1,10); cprintf("Can't go faster");

			       SpeedGrade = 20;

			   } else {

			       gotoxy(1,10); cprintf("Going faster...");

			       SpeedGrade = SpeedGrade + 1;

			   };

			   gotoxy(1,12); cprintf("speed grade = %2d", SpeedGrade);

			   StepTheMotor(PORTA, DR, WaitSomeTime);

			   break;

		case 115 : /* hit s key */

		   WaitSomeTime = WaitSomeTime - 5;

		   if(WaitSomeTime <= 0) {

			WaitSomeTime = 0;

			gotoxy(1,10); cprintf("Won't go slower");

			SpeedGrade = 0;

		   } else {

			gotoxy(1,10); cprintf("Going slower...");

			SpeedGrade = SpeedGrade - 1;

		   };

		   gotoxy(1,12); cprintf("speed grade = %2d", SpeedGrade);

		   StepTheMotor(PORTA, DR, WaitSomeTime);

		   break;

		case 114 : /* hit the r key */

		   gotoxy(1,14); cprintf("Reversing direction");

		   delay(500);

		   gotoxy(1,14); cprintf("                   ");

		   gotoxy(1,7);

		   if(DR == 0) {

			DR = 8;

		   } else {

			DR = 0;

		   };

		   StepTheMotor(PORTA, DR, WaitSomeTime);

		   break;

		case 113 : /* hit the q key */

		   OE = 16;

		   outportb(PORTA, OE);

		   clrscr();

		   Selection(PORTA, StepsPerRev, DR);

		   break;

	       default : break;

	  };

     } while (1);



}; /* end of Continuous */



void StepTheMotor(int PORTA, int DR, int WaitSomeTime) {



     int i;

     int SI = 4;

     int OE = 0;

     int FixedTime = 100; /* 100 msec */

     outportb(PORTA, SI + DR + OE);

     SI = 0;

     OE = 0;

     delay(FixedTime-WaitSomeTime); /* 100 msec */

     outportb(PORTA, SI + DR + OE);

     return;



}; /* --- end of StepTheMotor --- */