' *** STEPPER MOTOR DEMO USING "BASIC STAMP". JIM GILLESPIE 4/1/93
' *** CAUSES 240 HALF-STEPS CLOCKWISE THEN COUNTER CLOCKWISE
' *** USES BS170 TMOS TRANSISTORS DRIVEN FROM PORT PINS 0 - 3

	OUTPUT 	0	' STEPPER MOTOR OUTPUTS TO BS170 DRIVERS
	OUTPUT	1
	OUTPUT	2
	OUTPUT	3
'
	EEPROM	(1,3,2,6,4,12,8,9) ' HALF STEP DATA TABLE TO EEPROM
'
	PINS = 0		' OUTPUTS ALL ZERO FOR NOW
'
LOOP1:FOR B3= 0 TO 30		' 30 TIMES IN ONE DIRECTION THIS LOOP
        FOR B4 = 0 TO 7		' 8 STEPS IN THIS LOOP (8*30=240 STEPS)
	  READ B4,B5		' (LOC. B4 (EEPROM)) GOES TO B5
	  PINS = B5		' OUTPUT STEPPER PATTERN
	  'DEBUG PINS
	  PAUSE 10		' WAIT AWHILE (DETERMINES SPEED)
	 NEXT B4		' YOU GET THE IDEA
	NEXT B3			' DONE 30 LOOPS?
				' 240 STEPS CLOCKWISE. NOW CHANGE DIRECTION
      FOR B3=0 TO 30		' SAME IDEA AS ABOVE ONLY GET VALUES
        FOR B4 = 7 TO 0 STEP -1 ' FROM TABLE BAS ACKWARDS
          READ B4,B5		 
	  PINS = B5		
          PAUSE 10
	NEXT B4
      NEXT B3

  GOTO LOOP1			' DO IT ALL OVER AGAIN