PropWare::Stepper Class Reference

4-pin bipolar and 5-pin unipolar stepper motor driver More...

#include <PropWare/motor/stepper.h>

Collaboration diagram for PropWare::Stepper:

Public Types
enum	Step {   HALF,   ONE,   ONE_AND_A_HALF,   TWO,   TWO_AND_A_HALF,   THREE,   THREE_AND_A_HALF,   FOUR }

Public Member Functions
	Stepper (const Pin::Mask phase1Mask, const Pin::Mask phase2Mask, const Pin::Mask phase3Mask, const Pin::Mask phase4Mask, const Step start=DEFAULT_START_STEP)
	Constructor. More...
void	step_to (const Stepper::Step step)
	Move the motor directly to the specified step. More...
Step	get_current_step () const
	Get the current step. More...
bool	full_power_hold (const bool direction, const unsigned int usDelay=DEFAULT_DELAY)
	Step the motor to the nearest half-step to achieve a full-power hold. More...
bool	half_power_hold (const bool direction, const unsigned int usDelay=DEFAULT_DELAY)
	Step the motor to the nearest full-step to achieve a half-power hold. More...
void	step_forward (unsigned int steps, const unsigned int usDelay=DEFAULT_DELAY)
	Move the motor forward by a specified number of steps. More...
void	half_forward (unsigned int halfSteps, const unsigned int usDelay=DEFAULT_DELAY)
	Move the motor forward the a specified number of half-steps. More...
void	step_reverse (unsigned int steps, const unsigned int usDelay=DEFAULT_DELAY)
	Move the motor backward by a specified number of steps. More...
void	half_reverse (unsigned int halfSteps, const unsigned int usDelay=DEFAULT_DELAY)
	Move the motor backward by a specified number of half-steps. More...

Static Public Attributes
static const unsigned int	DEFAULT_DELAY = 10000
	Default delay in microseconds used between each step.
static const Step	DEFAULT_START_STEP = Step::HALF

Detailed Description

4-pin bipolar and 5-pin unipolar stepper motor driver

Examples

Stepper_Demo.cpp.

Definition at line 35 of file stepper.h.

Constructor & Destructor Documentation

Stepper()

PropWare::Stepper::Stepper	(	const Pin::Mask	phase1Mask,
		const Pin::Mask	phase2Mask,
		const Pin::Mask	phase3Mask,
		const Pin::Mask	phase4Mask,
		const Step	start = DEFAULT_START_STEP
	)

Constructor.

Parameters

[in]	phase1Mask	Pin mask connected to phase 1
[in]	phase2Mask	Pin mask connected to phase 2
[in]	phase3Mask	Pin mask connected to phase 3
[in]	phase4Mask	Pin mask connected to phase 4
[in]	start	What step should the motor start with

Definition at line 64 of file stepper.h.

Member Function Documentation

full_power_hold()

bool PropWare::Stepper::full_power_hold	(	const bool	direction,
		const unsigned int	usDelay = DEFAULT_DELAY
	)

Step the motor to the nearest half-step to achieve a full-power hold.

Parameters

direction[in]	True for forward, false for backward
usDelay	Delay in microseconds after the step is taken (must be greater than 17 for lmm)

Returns

True if the motor requirement movement to achieve full-power hold, false if the motor was already on a full-power hold

Definition at line 101 of file stepper.h.

Here is the call graph for this function:

get_current_step()

Step PropWare::Stepper::get_current_step

(

)

const

Get the current step.

Returns

Current step where the motor is holding

Definition at line 88 of file stepper.h.

half_forward()

void PropWare::Stepper::half_forward	(	unsigned int	halfSteps,
		const unsigned int	usDelay = DEFAULT_DELAY
	)

Move the motor forward the a specified number of half-steps.

Parameters

[in]	halfSteps	Number of half-steps to move forward
[in]	usDelay	Delay in microseconds between half-steps (must be greater than 17 for lmm)

Definition at line 153 of file stepper.h.

Here is the caller graph for this function:

half_power_hold()

bool PropWare::Stepper::half_power_hold	(	const bool	direction,
		const unsigned int	usDelay = DEFAULT_DELAY
	)

Step the motor to the nearest full-step to achieve a half-power hold.

Parameters

direction[in]	True for forward, false for backward
usDelay	Delay in microseconds after the step is taken (must be greater than 17 for lmm)

Returns

True if the motor requirement movement to achieve half-power hold, false if the motor was already on a half-power hold

Definition at line 121 of file stepper.h.

Here is the call graph for this function:

half_reverse()

void PropWare::Stepper::half_reverse	(	unsigned int	halfSteps,
		const unsigned int	usDelay = DEFAULT_DELAY
	)

Move the motor backward by a specified number of half-steps.

Parameters

[in]	halfSteps	Number of half-steps to move backward
[in]	usDelay	Delay in microseconds between steps (must be greater than 17 for lmm)

Definition at line 183 of file stepper.h.

Here is the caller graph for this function:

step_forward()

void PropWare::Stepper::step_forward	(	unsigned int	steps,
		const unsigned int	usDelay = DEFAULT_DELAY
	)

Move the motor forward by a specified number of steps.

Parameters

[in]	steps	Number of steps to move forward
[in]	usDelay	Delay in microseconds between steps (must be greater than 17 for lmm)

Definition at line 138 of file stepper.h.

step_reverse()

void PropWare::Stepper::step_reverse	(	unsigned int	steps,
		const unsigned int	usDelay = DEFAULT_DELAY
	)

Move the motor backward by a specified number of steps.

Parameters

[in]	steps	Number of steps to move backward
[in]	usDelay	Delay in microseconds between steps (must be greater than 17 for lmm)

Definition at line 168 of file stepper.h.

step_to()

void PropWare::Stepper::step_to

(

const Stepper::Step

step

)

Move the motor directly to the specified step.

Parameters

step[in]

Step to move to

Definition at line 79 of file stepper.h.

---

The documentation for this class was generated from the following file:

• PropWare/motor/stepper.h