For anyone who may be interested, here's the mock-up prototype code I've got so far to turn the stepper motor clockwise (cw()) or counter-clockwise (ccw()). There's a lot of repetitiveness I will be removing, and adding in many more checks etc, but this works quite well thus far:

package Step;

use 5.010;
use strict;
use warnings;

use Carp qw(croak);
use Data::Dumper;
use RPi::Const qw(:all);
use WiringPi::API qw(:perl);

our $VERSION = '2.3601';

use constant FULL => 2;
use constant HALF => 1;
use constant NUM_PINS => 0..3;

use constant STEPPER_SEQUENCE => [
    [qw(1 0 0 1)],
    [qw(1 0 0 0)],
    [qw(1 1 0 0)],
    [qw(0 1 0 0)],
    [qw(0 1 1 0)],
    [qw(0 0 1 0)],
    [qw(0 0 1 1)],
    [qw(0 0 0 1)],
];

use constant STEP_COUNT => 0+@{ STEPPER_SEQUENCE() };

sub new {
    my ($class, %args) = @_;

    my $self = bless {}, $class;

    if (! exists $args{pins}){
        croak "'pins' parameter is required to use this module\n";
    }

    setup_gpio();

    $self->_pins($args{pins});

    my $delay = $args{delay} // 0.01;
    $self->delay($delay);

    my $speed = $args{speed} // 'half';
    $self->speed($speed);

    return $self;
}
sub cw {
    my ($self, $degrees) = @_;

    my $step_counter = 0;
    my $pins = $self->_pins;

    for (1..$self->_turns($degrees)){
        for my $gpio_pin (NUM_PINS){
            if (STEPPER_SEQUENCE->[$step_counter][$gpio_pin]){
                write_pin($pins->[$gpio_pin], HIGH);
            }
            else {
                write_pin($pins->[$gpio_pin], LOW);
            }
        }

        $step_counter += $self->_phases;

        if ($step_counter >= STEP_COUNT){
            $step_counter = 0;
        }

        $self->_wait;
    }

    for (@$pins){
        write_pin($_, LOW);
        pin_mode($_, INPUT);
    }
}
sub ccw {
    my ($self, $degrees) = @_;

    my $step_counter = 0;
    my $pins = $self->_pins;

    for (1..$self->_turns($degrees)){
        for my $gpio_pin (NUM_PINS){
            if (STEPPER_SEQUENCE->[$step_counter][$gpio_pin]){
                write_pin($pins->[$gpio_pin], HIGH);
            }
            else {
                write_pin($pins->[$gpio_pin], LOW);
            }
        }

        $step_counter += $self->_phases * -1;

        if ($step_counter < 0){
            $step_counter = STEP_COUNT + $self->_phases * -1;
        }

        $self->_wait;
    }

    for (@$pins){
        write_pin($_, LOW);
        pin_mode($_, INPUT);
    }
}
sub speed {
    my ($self, $speed) = @_;
    if (defined $speed){
        if (! grep {$speed ne $_} qw(full half)){
            croak "'speed' parameter must be either 'full' or 'half'\n
+";
        }
        $self->{speed} = $speed;
    }
    return $self->{speed};
}
sub delay {
    my ($self, $delay) = @_;
    $self->{delay} = $delay if defined $delay;
    return $self->{delay};
}
sub _wait {
    my ($self) = @_;
    select(undef, undef, undef, $self->delay);
}
sub _pins {
    my ($self, $pins) = @_;

    if (defined $pins){
        if (@$pins != 4){
            croak "the 'pins' parameter must include an aref with four
+ elements\n";
        }

        for (@$pins){
            pin_mode($_, OUTPUT);
            write_pin($_, LOW);
        }
        $self->{pins} = $pins;
    }

    return $self->{pins};
}
sub _phases {
    return $_[0]->speed eq 'full' ? FULL : HALF;
}
sub _turns {
    my ($self, $degrees) = @_;
    return $self->_phases == 1
        ? int($degrees / 5.625 + 0.5) * 64
        : int($degrees / 11.25 + 0.5) * 64;
}

1;

[download]

...and the calling script (the param to ccw() is the degrees in which to turn:

use warnings;
use strict;

use lib '.';

use Step;

my $s = Step->new(
    pins => [12, 16, 20, 21],
    speed => 'full'
);


#$s->cw(90);
$s->ccw(90);

[download]

Feedback on any part would be appreciated, particularly with the cw() and ccw() method names. I thought about left() and right(), but perhaps those could be ambiguous in certain scenarios. I do totally like them better. Perhaps they could be aliases with the documentation specifying this?

Update: After some consideration, I think I might alias right(); up() to cw() and left(), down() to ccw(). Thoughts much welcome.

In reply to Re: Get element count of CONSTANT list (aref)) by stevieb
in thread [SOLVED] Get element count of CONSTANT list (aref)) by stevieb

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