Add different step modes for better torque

example.motor.toml

@@ -1,2 +1,4 @@
-pin_mappings = [0, 2, 3, 4]
+
-sleep_time = { secs = 0, nanos = 7_000_000 }
+pin_mappings = [17, 27, 22, 23]
+sleep_time = { secs = 0, nanos = 5_000_000 }
+step_mode = "OneTwo" # or "One" or "Two"

src/motor.rs

@@ -9,6 +9,7 @@ use std::time::Duration;
 pub struct Motor {
     pins: MotorPins,
     sleep_time: Duration,
+    step_mode: StepModePhase,
 }
 
 #[derive(Clone, Debug, Serialize, Deserialize)]
@@ -17,6 +18,16 @@ pub struct MotorConfig {
 
     /// The time in milliseconds between each tick of the stepper motor
     pub sleep_time: Duration,
+
+    /// The time in milliseconds between each tick of the stepper motor
+    pub step_mode: StepModePhase,
+}
+
+#[derive(Clone, Copy, Debug, Serialize, Deserialize)]
+pub enum StepModePhase {
+    OneTwo,
+    Two,
+    One,
 }
 
 pub struct MotorPins {
@@ -52,18 +63,45 @@ impl Motor {
         Ok(Motor {
             sleep_time: config.sleep_time,
             pins,
+            step_mode: config.step_mode,
         })
     }
 
     pub fn spin_step(&mut self, direction: Direction) {
-        let mut pin_states = [High, Low, Low, Low];
+        let phases = match self.step_mode {
+            StepModePhase::One => &[
+                [Low, High, Low, Low],
+                [Low, Low, High, Low],
+                [Low, Low, Low, High],
+                [High, Low, Low, Low],
+            ][..],
+            StepModePhase::Two => &[
+                [Low, High, High, Low],
+                [Low, Low, High, High],
+                [High, Low, Low, High],
+                [High, High, Low, Low],
+            ],
+            StepModePhase::OneTwo => &[
+                [High, High, Low, Low],
+                [Low, High, Low, Low],
+                [Low, High, High, Low],
+                [Low, Low, High, Low],
+                [Low, Low, High, High],
+                [Low, Low, Low, High],
+                [High, Low, Low, High],
+                [High, Low, Low, Low],
+            ],
+        };
 
-        for _ in 0..pin_states.len() {
+        match direction {
-            self.pins.set(pin_states);
+            Direction::Left => self.spin_step_inner(phases.iter().copied().rev()),
-            match direction {
+            Direction::Right => self.spin_step_inner(phases.iter().copied()),
-                Direction::Right => pin_states.rotate_right(1),
+        }
-                Direction::Left => pin_states.rotate_left(1),
+    }
-            }
+
+    fn spin_step_inner(&mut self, phases: impl Iterator<Item = [Level; 4]>) {
+        for levels in phases {
+            self.pins.set(levels);
             sleep(self.sleep_time);
         }
     }