coil_hbridge_final_tested.ino

// NOTE: no coil_write mapping yet

const int dataPin = 13;
const int latchPin = 14;
const int clockPin = 12;

int numOfRegisters = 4;
byte registerState[4];


int pause = 100;

void setup(void)
{
    Serial.begin(115200);
    while( !Serial ) {} // wait for serial init

  //byte registerState = new byte[numOfRegisters];
  for (size_t i = 0; i < numOfRegisters; i++) {
    registerState[i] = 0;
  }
  pinMode(latchPin, OUTPUT);
  pinMode(clockPin, OUTPUT);
  pinMode(dataPin, OUTPUT);

}

void loop(void)           
{
//  Serial.println("PANG");
//  coil_write(2, 0);
//  delay(pause);
//  Serial.println("PING");
//  coil_write(2, 2);
//  delay(pause);
//  Serial.println("PONG");
//  coil_write(2, 1);
//  delay(pause);
//

  
//  Serial.println("0 = HIGH");
//  regWrite(0, HIGH);  // testing
//  regWrite(0, LOW);  // testing
//  delay(pause*2);

  Serial.println("coil 1");

  // one coil up
  regWrite(3,HIGH);  // on/off
  regWrite(2, HIGH); // direction
  regWrite(4,LOW); // direction
  delay(pause);
  // same coil down
  regWrite(2,LOW);
  regWrite(4,HIGH);
  delay(pause);
  // same coil (inactive)
  regWrite(3,LOW);
  regWrite(4,LOW);
  delay(pause);

  Serial.println("coil 2");
  // one coil up
  regWrite(6,HIGH);  // on/off
  regWrite(5, HIGH); // direction
  regWrite(7,LOW); // direction
  delay(pause);
  // same coil down
  regWrite(5,LOW);
  regWrite(7,HIGH);
  delay(pause);
  // same coil (inactive)
  regWrite(6,LOW);
  regWrite(7,LOW);
  delay(pause);

  Serial.println("coil 3");
  // one coil up
  regWrite(11,HIGH);  // on/off
  regWrite(10, HIGH); // direction
  regWrite(12,LOW); // direction
  delay(pause);
  // same coil down
  regWrite(10,LOW);
  regWrite(12,HIGH);
  delay(pause);
  // same coil (inactive)
  regWrite(11,LOW);
  regWrite(12,LOW);
  delay(pause);

  Serial.println("coil 4");

  // one coil up
  regWrite(19,HIGH);  // on/off
  regWrite(18, HIGH); // direction
  regWrite(20,LOW); // direction
  delay(pause);
  // same coil down
  regWrite(18,LOW);
  regWrite(20,HIGH);
  delay(pause);
  // same coil (inactive)
  regWrite(19,LOW);
  regWrite(20,LOW);
  delay(pause);

  Serial.println("coil 5");
  // one coil up
  regWrite(22,HIGH);  // on/off
  regWrite(21, HIGH); // direction
  regWrite(23,LOW); // direction
  delay(pause);
  // same coil down
  regWrite(21,LOW);
  regWrite(23,HIGH);
  delay(pause);
  // same coil (inactive)
  regWrite(22,LOW);
  regWrite(23,LOW);
  delay(pause);

  Serial.println("coil 6");
  // one coil up
  regWrite(27,HIGH);  // on/off
  regWrite(26, HIGH); // direction
  regWrite(28,LOW); // direction
  delay(pause);
  // same coil down
  regWrite(26,LOW);
  regWrite(28,HIGH);
  delay(pause);
  // same coil (inactive)
  regWrite(27,LOW);
  regWrite(28,LOW);
  delay(pause);

  Serial.println("-------------");
  Serial.println();
}

void coil_write(int coil_id,int state){
  int dir_0_pin;
  int dir_1_pin;
  int onoff_pin;
  int dir;
  int onoff;
  
 if(coil_id%2 == 0) {
    dir_0_pin = (coil_id*8)+2;
    dir_1_pin = (coil_id*8)+4;
    onoff_pin = (coil_id*8)+3;
 }else if(coil_id%2 == 1){
    dir_0_pin = (coil_id*8)+5;
    dir_1_pin = (coil_id*8)+7;
    onoff_pin = (coil_id*8)+6;
 }
 if(state == 0) {
  onoff = 0;
 }
 else if(state == 1){
  onoff = 1;
  dir = 0;
 }
 else if(state == 2){
  onoff = 1;
  dir = 1;
 }
  regWrite(onoff_pin,onoff); 
  regWrite(dir_0_pin, dir);
  regWrite(dir_1_pin, !dir);
}

void regWrite(int p, bool state) {
  int reg = p >> 3; /// 8;
  int actualPin = p - (8 * reg);
  digitalWrite(latchPin, LOW);
  for (int i = 0; i < numOfRegisters; i++) {
    //byte states = registerState[i];
    if (i == reg) {
      bitWrite(registerState[i], actualPin, state);
    }
    shiftOut(dataPin, clockPin, MSBFIRST, registerState[i]);
  }
  digitalWrite(latchPin, HIGH);
}