Added stepper motor blocks

motors.ts

@@ -23,6 +23,10 @@ namespace kitronik_motor_driver {
         Motor2
     }
 
+    let stepperState = 0;
+    let stepSequence: MotorDirection[] = [MotorDirection.Forward, MotorDirection.Reverse, MotorDirection.Reverse, MotorDirection.Forward];
+    export let stepperSteps = 200;
+
 	/**
      * Turns on motor specified by eMotors in the direction specified
      * by eDirection, at the requested speed 
@@ -85,4 +89,81 @@ namespace kitronik_motor_driver {
                 break
         }
     }
+
+    /**
+     * Sets the stepper motor to a chosen angle relative to the start position.
+     * @param dir   which direction to go
+     * @param angle how far to turn the motor relative to start
+     */
+    //% blockId=kitronik_stepper_motor_turn_angle
+    //% block="stepper turn |%dir|%angle|degrees"
+    //% angle.min=1 angle.max=360
+    export function stepperMotorTurnAngle(dir: MotorDirection, angle: number): void {
+        let angleToSteps = 0;
+
+        //convert angle to motor steps, depends on which stepper is being turned to set the number of steps for a full rotation
+        angleToSteps = pins.map(angle, 1, 360, 1, stepperSteps);
+
+        stepperMotorTurnSteps(dir, angleToSteps);
+    }
+
+    /**
+     * Sets the stepper motor to turn a set number of steps.
+     * @param dir   which direction to go
+     * @param stepperSteps how many steps to turn the motor
+     */
+    //% blockId=kitronik_motordriver_stepper_motor_turn_steps
+    //% block="stepper turn |%dir|%steps| steps"
+    export function stepperMotorTurnSteps(dir: MotorDirection, steps: number): void {
+        let stepCount = 0;
+
+        while (stepCount < steps) {
+            if (dir == MotorDirection.Forward) {
+                // Move the stepper forward by 1 step
+                stepperState++;
+            } else {
+                // Move the stepper backward by 1 step
+                stepperState--;
+            }
+
+            if (stepperState > 3) {
+                // Wrap stepper state down to 0
+                stepperState = 0;
+            }
+
+            if (stepperState < 0) {
+                // Wrap stepper state up to 3
+                stepperState = 3;
+            }
+
+            if (stepperState % 2 == 0) {
+                // Turn Motor1 on in the direction set in stepSequence
+                motorOn(Motors.Motor1, stepSequence[stepperState], 100);
+                // Set Motor2 to be inactive
+                motorOff(Motors.Motor2);
+            } else {
+                // Turn Motor2 on in the direction set in stepSequence
+                motorOn(Motors.Motor2, stepSequence[stepperState], 100);
+                // Set Motor1 to be inactive
+                motorOff(Motors.Motor1);
+            }
+
+            stepCount++;
+            basic.pause(50);
+        }
+    }
+
+    /**
+     * Set the number of steps per full rotation for the stepper motor.
+     * stepperSteps is defaulted to 200.
+     * @param steps number of steps for a full rotation, eg: 200
+     */
+    //% subcategory=Settings
+    //% group=Settings
+    //% blockId=kitronik_motordriver_set_stepper_steps
+    //% block="stepper has |%steps| steps in one full rotation"
+    //% weight=100 blockGap=8
+    export function setStepperMotorSteps(steps: number): void {
+        kitronik_motor_driver.stepperSteps = steps;
+    }
 }

pxt.json

@@ -1,6 +1,6 @@
 {
     "name": "pxt-kitronik-motor-driver",
-    "version": "0.0.6",
+    "version": "0.0.8",
     "description": "Blocks to simplify using Kitronik products in PXT",
     "license": "MIT",
     "dependencies": {