A new function to idle the motor after stepping

keywords.txt

@@ -15,6 +15,7 @@ Stepper	KEYWORD1	Stepper
 step	KEYWORD2
 setSpeed	KEYWORD2
 version	KEYWORD2
+idelAfterStep	KEYWORD2
 
 ######################################
 # Instances (KEYWORD2)

src/Stepper.cpp

@@ -88,6 +88,7 @@ Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2)
   this->direction = 0;      // motor direction
   this->last_step_time = 0; // timestamp in us of the last step taken
   this->number_of_steps = number_of_steps; // total number of steps for this motor
+  this->idle = false;       // Power down all coils after done stepping
 
   // Arduino pins for the motor control connection:
   this->motor_pin_1 = motor_pin_1;
@@ -118,6 +119,7 @@ Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
   this->direction = 0;      // motor direction
   this->last_step_time = 0; // timestamp in us of the last step taken
   this->number_of_steps = number_of_steps; // total number of steps for this motor
+  this->idle = false;       // Power down all coils after done stepping
 
   // Arduino pins for the motor control connection:
   this->motor_pin_1 = motor_pin_1;
@@ -150,6 +152,7 @@ Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
   this->direction = 0;      // motor direction
   this->last_step_time = 0; // timestamp in us of the last step taken
   this->number_of_steps = number_of_steps; // total number of steps for this motor
+  this->idle = false;       // Power down all coils after done stepping
 
   // Arduino pins for the motor control connection:
   this->motor_pin_1 = motor_pin_1;
@@ -226,6 +229,21 @@ void Stepper::step(int steps_to_move)
       yield();
     }
   }
+  // If ideling is enabled then power down all coils
+  if (this->idle == true)
+  {
+    digitalWrite(motor_pin_1, LOW);
+    digitalWrite(motor_pin_2, LOW);
+    if (this->pin_count == 4)
+    {
+      digitalWrite(motor_pin_1, LOW);
+      digitalWrite(motor_pin_2, LOW);
+      digitalWrite(motor_pin_3, LOW);
+      digitalWrite(motor_pin_4, LOW);
+    }
+    if (this->pin_count == 5)
+      digitalWrite(motor_pin_5, LOW);
+  }
 }
 
 /*
@@ -358,6 +376,15 @@ void Stepper::stepMotor(int thisStep)
   }
 }
 
+/*
+ * Allow powering down all coils after stepping, 
+ * to reduce heat, power and allow manual rotation.
+ */
+void Stepper::idelAfterStep(bool idle)
+{
+  this->idle = idle;
+}
+
 /*
   version() returns the version of the library:
 */

src/Stepper.h

@@ -95,6 +95,9 @@ class Stepper {
 
     // mover method:
     void step(int number_of_steps);
+
+    // Power down all coils after stepping, to reduce heat, power and allow manual rotation.
+    void idelAfterStep(bool idle);
 
     int version(void);
 
@@ -106,6 +109,7 @@ class Stepper {
     int number_of_steps;      // total number of steps this motor can take
     int pin_count;            // how many pins are in use.
     int step_number;          // which step the motor is on
+    bool idle;                // Power down all coils after done stepping
 
     // motor pin numbers:
     int motor_pin_1;