# stepper_unipolar_blocking

Library to manage unipolar stepper motors with blocking delays

Author | Pavel Milanes Costa (CO7WT) - pavelmc@gmail.com, copyright © 2014, all rights reserved.
Adapted-by | original design for jallib
Compiler | >=2.4q3

Description

    This library implement the drive procedures for UNIPOLAR stepper motors
    using blocking delays.

    See stepper_unipolar_common for modes explanations and optional features

Sources

    I used a tutorial (in spanish) here http://www.todorobot.com.ar/informacion/tutorial%20stepper/
    This is a very good source also http://www.cs.uiowa.edu/~jones/step/ thanks vasi vasi
    A lib on jallib (in unreleased state) at the end of the development by Richard Zengerink dating
    back to 2010 give me some new ideas, thanks to all who put his knowledge in the public domain.

Notes

    * You have to know & declare the sweet spot frequency/RPM of your motor before including the lib
      as always you can try & error until you find it.
    * Release date: 8 Nov 2014

Dependencies

- stepper_unipolar_common

## Summary

### Global variables/contants

- `const bit STEPPER_BLOCKIGN = on`

### Procedures

- `stepper_go(word in steps)`
- `stepper_init()`

### Functions

## API details

### Global variables/contants

- `const bit STEPPER_BLOCKIGN = on`

      This is the blocking version so we instruct the common lib about

### Procedures

- `stepper_go(word in steps)`

      make a predefined number of steps using accel and decel if defined

- `stepper_init()`

      init procedure for the blocking version

### Functions

## Related samples

Here are the list of samples which use this library:

16f630 | 16f630_stepper_unipolar_blocking.jal