'************************
'Stepper Motor Controller
'Picaxe 18M2
'Unipolar & Bipolar- Set variable for correct type
'PJW 4/2011
'************************
'Variables
setfreq M32
symbol StepPulse = pinc.0
symbol Direction = pinc.1 
symbol enabled = pinc.2
symbol limitout = c.7
symbol limitin = pinc.6
symbol reset1 = b0
symbol stepcount = b1 ' 1 to 4
symbol stepout = b2
symbol mm = b3
symbol Unipolar =b4
symbol counter = w3
symbol delay = w4
symbol counter1 = w5

Unipolar = 1  '1 for Unipolar, 0 for Bipolar

let delay =10
let dirsB = %11111111
let dirsc = %10111000
stepcount =0
'************************
'Test routine
'direction = 1
'goto testloop
'************************
Main:
if limitin = 0 then 'Not at limit
	low limitout 
	if enabled = 1 then
		if reset1 = 0 then
		'check for pulse on steppulse
			if steppulse = 1 then
				if reset1 = 0 then 'respond to rising steppulse
					'step motor
					gosub Step1
				end if
				reset1 = 1
			end if
		end if
	else 'turn off motor
	pinsb = %00000000
	end if
else
	high limitout 'set limit
end if

if steppulse = 0 then 'reset flag 
	reset1=0
end if
goto main
'************************
'Step motor one step
step1:
select case direction
	case 1'Reverse
		if stepcount >0 then
			stepcount = stepcount - 1
		end if
		if stepcount = 0 then 
			stepcount =4
		end if
	case 0 'Forward
		stepcount = stepcount + 1
			if stepcount = 5 then
		stepcount = 1
		end if
end select
If Unipolar = 1 then
	'Unipolar
	lookup stepcount ,(0,%0011, %0110,%1100,%1001), pinsb 'full step 
else
	'Bipolar
	lookup stepcount ,(0,%1001,%0101,%0110,%1010) ,pinsb'stepout 'full step 
end if	
return
'**********************************
'test loop 
testloop:

do
for counter1 = 1 to 80
for counter = 1 to 200 
	gosub step1

next counter
next counter1
pause 1000
if direction = 0 then 
	direction = 1
else
	direction = 0
end if

loop


do
for counter1 = 1 to 80
for counter = 1 to 200 
	gosub step1
	'pause 2000
next counter
next counter1
pause 1000
if direction = 0 then 
	direction = 1
else
	direction = 0
end if
'debug
loop