' Program STEP.BAS
' The Stamp accepts simply formatted commands and drives a four-coil
' stepper. Commands are formatted as follows: +500 20<return> means
' rotate forward 500 steps with 20 milliseconds between steps. To
' run the stepper backward, substitute - for +. 
 
Symbol	Directn = b0
Symbol	Steps = w1
Symbol 	i = w2
Symbol	Delay = b6
Symbol	Dir_cmd = b7 

	dirs = %01000011 : pins = %00000001 	' Initialize output.
	b1 = %00000001 : Directn = "+"
	goto Prompt				' Display prompt. 

' Accept a command string consisting of direction (+/-), a 16-bit number
' of steps, and an 8-bit delay (milliseconds) between steps. If longer
' step delays are required, just command 1 step at a time with long
' delays between commands. 

Cmd:	serin 7,N2400,Dir_cmd,#Steps,#Delay	' Get orders from terminal.
	if Dir_cmd = Directn then Stepit	' Same direction? Begin.
	b1 = b1^%00000011			' Else reverse. 

Stepit:	for i = 1 to Steps	' Number of steps. 
	pins = pins^b1		' XOR output with b1, then invert b1 to
	b1 = b1^%00000011	' calculate the stepping sequence. 
	pause Delay		' Wait commanded delay between steps. 
	next
	Directn = Dir_cmd	' Direction = new direction. 

Prompt:	serout 6,N2400,(10,13,"step> ")		' Show prompt, send return
	goto Cmd				' and linefeed to terminal. 

--------------------------------------------------------------------------
' *** 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

---------------------------------------------------------------------------
' *** 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