Two-phase 4-wire stepper motor driver

Some time ago, when I was out shopping, I passed by a scrap collection station and saw an aunt dismantling parts from a machine. I didn't know what machine it was, but I suddenly saw her dismantling a round thing. I walked closer and saw that it was a motor with four wires. I thought it must be a stepper motor. Although it was old, the quality looked good, so I liked it very much. I asked the aunt how much it cost and wanted to buy it. The aunt said ten yuan, not a cent less. I had no choice but to pay ten yuan to buy this "iron block"! Due to time constraints, I have never had the opportunity to tinker with it. Today I have some time, so I took it out to study it.

After measurement, this is a two-phase four-wire stepper motor with a step angle of 1.8 degrees. There are two working modes. One is the 4-beat mode and the other is the 8-beat mode. The timing of the 4-beat mode is as follows:

a~ and b~ represent reverse currents.

ab - a~b - a~b~ - ab~ is one direction.
ab - ab~ - a~b~ - a~b is the opposite direction.

The timing of the 8-beat method is as follows:

A B C D E F G H (timing)

A 1 1 0 0 0 0 0 1
A- 0 0 0 1 1 1 0 0
B 0 1 1 1 0 0 0 0
B- 0 0 0 0 0 1 1 1

I use the 8-beat method here. Procedure:

/***
**********************************************************************
**Program function:
**Chip model: STC11F16XE
**Crystal frequency: 22.1184M
**Date of writing: October 2010
**Writer: wang QQ: 349259818 Email: hongfadg@163.com
**Remarks:
*******************************************************************/
//The following are the required header files
//#include //#include

//#include
//#include
#include
//Define keywords for easy use
#define uchar unsigned char
#define uint unsigned int
#define ulong unsigned long
/*
sbit p10=P1^0;//The first group of motors
sbit p11=P1^1;
sbit p12=P1^2;//The first group of motor
sbits p13=P1^3;//The second group of motor
sbits p14=P1^4;
sbit p15=P1^5;//The second group of motors
*/
uchar step[]={0x25,0x2d,0x2c,0x2e,0x26,0x36,0x34,0x35};//Timing parameter table
/* Delay function
*******************************************************************
**Function prototype: void delay(void)
**Function function: delay function
**Input parameters: None
**Output parameters: None
**Remarks:
*******************************************************************/
void delay(void)

{
unsigned char a,b,c;
for(c=18;c>0;c--)
for(b=19;b>0;b--)
for(a=23;a>0;a-- );
}

/* Main function
****************************************************************
**Function prototype: main()
**Function function:
**Input parameters: None
**Output parameters: None
**Remarks: Complete the main functions of the program
*******************************************************************/
main()
{
unsigned char c;
while(1) //Main loop
{
for(c=0;c<8;c++)
{

P1=step[c]; //Motor drive
delay(); //Delay
}

}

}

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Circuit Diagram:

Stepper motor driver board

Control Panel

Assemble the whole