A non-blocking stepper Library to control unipolar Motors with mosFET as switching devices, also it can use a callback to return the pin values to pass it to a shift register, and has a eco mode.

I was building a small car and need a small and effective library to control the unipolar stepper motor, also on the development I need to move the output of the lib to a shift register (74HC595) to command the motor from there and some other features.

• The lib takes care of the pins mode, no need to initiate itas outputs, etc.
• Is has a eco mode, in my case the motor draw 1.2A once powered and I'm running on batteries, so if your application has a way to stay in place once moved or you don't care of it (like mine) you can activate the eco mode and the motor will draw current only when in motion.
• It moves with a non-blocking procedure, in most libs out there you are stuck when you are moving the motor to a place and you must wait for it to be done (blocking). In my lib you can do another things while the motor are in motion, just need to insert a check procedure in the loop.
• You can retrieve the pin status from the lib instead of doing the real move with a callback function. This feature will help you to remote control a motor, you can transmit that code via any channel (I2C, SPI, wireless) and move the motor at a remote place. In my case I use a SPI bus to control 4 pins of a 74HC595 shift register because I'm short of pins in my project and the SPI bus was already in place.
• Two modes of motion, WAVE or HALF_STEP, you can select the modes in the lib instantiate time.

See the examples for more.

Pavel Milanes, amateur radio operator CO7WT, SysAdmin and DIY fan. You can reach me via my email [email protected]