diff --git a/docs/StepperDrivers/Stepper_UNIPOLAR.md b/docs/StepperDrivers/Stepper_UNIPOLAR.md index 55d0ad3..8c47dd9 100644 --- a/docs/StepperDrivers/Stepper_UNIPOLAR.md +++ b/docs/StepperDrivers/Stepper_UNIPOLAR.md @@ -24,9 +24,50 @@ It does *not* matter which coil is defined as *1* or *2*, nor which side is call The patterns by which this class sets the specified pins HIGH and LOW depend on the *step mode* chosen as follows: #### FULL_STEP_ONE_PHASE + +* 4-step cycles where in each step current flows only through **one** phase of **one** of the coils + + + + + + + + +
Phase APhase B
Coil 1Coil 2Coil 1Coil 2
Step 1HIGH---
Step 2-HIGH--
Step 3--HIGH-
Step 4---HIGH
+
+ #### FULL_STEP_TWO_PHASE + +* 4-step cycles where in each step current flows through **one** phase of **each** of the coils + + + + + + + + +
Phase APhase B
Coil 1Coil 2Coil 1Coil 2
Step 1HIGHHIGH--
Step 2-HIGHHIGH-
Step 3--HIGHHIGH
Step 4HIGH--HIGH
+
+ #### HALF_STEP +* 8-step cycles formed by interleaving the 4 steps of the FULL_STEP_ONE_PHASE mode with the 4 steps of the FULL_STEP_TWO_PHASE mode + + + + + + + + + + + + +
Phase APhase B
Coil 1Coil 2Coil 1Coil 2
Step 1HIGH---
Step 2HIGHHIGH--
Step 3-HIGH--
Step 4-HIGHHIGH-
Step 5--HIGH-
Step 6--HIGHHIGH
Step 7---HIGH
Step 8HIGH--HIGH
+ --- [↩️](../Stepper.md) Back to the Stepper Motor Control page