Arduino 4-phase step motor

demo.ino

#include "step_motor.h"

#define STEP_INTERVAL 2000
#define STEP_DELAY 0
#define STEPS 48*1

int inSize = 0; // Переменная которая будет содержать размер буфера
char str[128]; // Так как типа string тут нет, будем использовать массив символов
bool active;

StepMotor stepmotor(2, 3, 4, 5);

void setup(){
  Serial.begin(9600); // Открываем порт с скоростью передачи в 9600 бод(бит/с)
}

void loop(){
  inSize=0; // Сбрасываем переменную
  memset(str, '\0', 128); // Очищаем массив
  
  if(Serial.available() > 0){
   delay(200); // Ждем, для того, чтобы пришли все данные
   
   inSize = Serial.available(); // Получаем длину строки и записываем ее в переменную
   
   for (int i = 0; i < inSize; i++)
     str[i] = Serial.read(); // Читаем каждый символ, и пишем его в массив

    if (strcmp(str, "spin") == 0){
      Serial.println("Start spinning");
      active = true;
    } else {
      Serial.println("Stop spinning");
      active = false;
    }
  }
  
  if (active) {
    stepmotor.make_steps(STEPS, STEP_INTERVAL, STEP_DELAY);
    delay(1000);
    stepmotor.make_steps(STEPS * -1, STEP_INTERVAL, STEP_DELAY);
    delay(1000);
  }
}

step_motor.cpp

#include "Arduino.h"
#include "step_motor.h"

StepMotor::StepMotor(int motor_pin_1, int motor_pin_2,
                     int motor_pin_3, int motor_pin_4)
{
  this->motor_pin_1 = motor_pin_1;
  this->motor_pin_2 = motor_pin_2;
  this->motor_pin_3 = motor_pin_3;
  this->motor_pin_4 = motor_pin_4;

  pinMode(this->motor_pin_1, OUTPUT);
  pinMode(this->motor_pin_2, OUTPUT);
  pinMode(this->motor_pin_3, OUTPUT);
  pinMode(this->motor_pin_4, OUTPUT);

  this->reset_pins();
}

void StepMotor::make_steps(int number_of_steps, unsigned long delay_mcs, 
                           unsigned long delay_between_steps_mcs)
{
  int steps_left = abs(number_of_steps);
  int direction  = number_of_steps > 0 ? 1 : -1;
  int curr_step  = number_of_steps > 0 ? 0 : steps_left;

  while (steps_left > 0) {
      curr_step  += direction;
      steps_left -= 1;

      this->next_step(curr_step % 4);
      
      if (delay_between_steps_mcs > 0) {
        this->loop_delay_mcs(delay_between_steps_mcs);
        this->reset_pins();
      }
      
      this->loop_delay_mcs(delay_mcs - delay_between_steps_mcs);
  }
  this->reset_pins();
}

void StepMotor::next_step(int thisStep)
{
  switch (thisStep) {
    case 0:  // 1010
      digitalWrite(this->motor_pin_1, HIGH);
      digitalWrite(this->motor_pin_2, LOW);
      digitalWrite(this->motor_pin_3, HIGH);
      digitalWrite(this->motor_pin_4, LOW);
    break;
    case 1:  // 0110
      digitalWrite(this->motor_pin_1, LOW);
      digitalWrite(this->motor_pin_2, HIGH);
      digitalWrite(this->motor_pin_3, HIGH);
      digitalWrite(this->motor_pin_4, LOW);
    break;
    case 2:  //0101
      digitalWrite(this->motor_pin_1, LOW);
      digitalWrite(this->motor_pin_2, HIGH);
      digitalWrite(this->motor_pin_3, LOW);
      digitalWrite(this->motor_pin_4, HIGH);
    break;
    case 3:  //1001
      digitalWrite(this->motor_pin_1, HIGH);
      digitalWrite(this->motor_pin_2, LOW);
      digitalWrite(this->motor_pin_3, LOW);
      digitalWrite(this->motor_pin_4, HIGH);
    break;
  }
}

void StepMotor::reset_pins()
{
  digitalWrite(this->motor_pin_1, LOW);
  digitalWrite(this->motor_pin_2, LOW);
  digitalWrite(this->motor_pin_3, LOW);
  digitalWrite(this->motor_pin_4, LOW);
}

void StepMotor::loop_delay_mcs(unsigned long mcs)
{
  unsigned long then = micros();
  unsigned long delta = 0;
  do {
    delta = micros() - then;
  } while (delta < mcs);
}

step_motor.h

#ifndef step_motor_h
#define step_motor_h

class StepMotor {
  public:
    StepMotor(int motor_pin_1, int motor_pin_2,
              int motor_pin_3, int motor_pin_4);

    void make_steps(int number_of_steps, unsigned long delay_msc, 
                    unsigned long delay_between_steps_mcs);
  private:
    void next_step(int this_step);
    void reset_pins();
    void loop_delay_mcs(unsigned long mcs);

    int motor_pin_1;
    int motor_pin_2;
    int motor_pin_3;
    int motor_pin_4;
};

#endif