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diff --git a/Arduino/libraries/AccelStepper/extras/doc/AccelStepper_8h-source.html b/Arduino/libraries/AccelStepper/extras/doc/AccelStepper_8h-source.html new file mode 100644 index 0000000..098f9f5 --- /dev/null +++ b/Arduino/libraries/AccelStepper/extras/doc/AccelStepper_8h-source.html @@ -0,0 +1,420 @@ +<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"> +<html><head><meta http-equiv="Content-Type" content="text/html;charset=UTF-8"> +<title>AccelStepper: AccelStepper.h Source File</title> +<link href="doxygen.css" rel="stylesheet" type="text/css"> +<link href="tabs.css" rel="stylesheet" type="text/css"> +</head><body> +<!-- Generated by Doxygen 1.5.6 --> +<div class="navigation" id="top"> + <div class="tabs"> + <ul> + <li><a href="index.html"><span>Main Page</span></a></li> + <li><a href="annotated.html"><span>Classes</span></a></li> + <li class="current"><a href="files.html"><span>Files</span></a></li> + </ul> + </div> +<h1>AccelStepper.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// AccelStepper.h</span> +<a name="l00002"></a>00002 <span class="comment">//</span><span class="comment"></span> +<a name="l00003"></a>00003 <span class="comment">/// \mainpage AccelStepper library for Arduino</span> +<a name="l00004"></a>00004 <span class="comment">///</span> +<a name="l00005"></a>00005 <span class="comment">/// This is the Arduino AccelStepper library.</span> +<a name="l00006"></a>00006 <span class="comment">/// It provides an object-oriented interface for 2 or 4 pin stepper motors.</span> +<a name="l00007"></a>00007 <span class="comment">///</span> +<a name="l00008"></a>00008 <span class="comment">/// The standard Arduino IDE includes the Stepper library</span> +<a name="l00009"></a>00009 <span class="comment">/// (http://arduino.cc/en/Reference/Stepper) for stepper motors. It is</span> +<a name="l00010"></a>00010 <span class="comment">/// perfectly adequate for simple, single motor applications.</span> +<a name="l00011"></a>00011 <span class="comment">///</span> +<a name="l00012"></a>00012 <span class="comment">/// AccelStepper significantly improves on the standard Arduino Stepper library in several ways:</span> +<a name="l00013"></a>00013 <span class="comment">/// \li Supports acceleration and deceleration</span> +<a name="l00014"></a>00014 <span class="comment">/// \li Supports multiple simultaneous steppers, with independent concurrent stepping on each stepper</span> +<a name="l00015"></a>00015 <span class="comment">/// \li API functions never delay() or block</span> +<a name="l00016"></a>00016 <span class="comment">/// \li Supports 2 and 4 wire steppers, plus 4 wire half steppers.</span> +<a name="l00017"></a>00017 <span class="comment">/// \li Supports alternate stepping functions to enable support of AFMotor (https://github.com/adafruit/Adafruit-Motor-Shield-library)</span> +<a name="l00018"></a>00018 <span class="comment">/// \li Supports stepper drivers such as the Sparkfun EasyDriver (based on 3967 driver chip)</span> +<a name="l00019"></a>00019 <span class="comment">/// \li Very slow speeds are supported</span> +<a name="l00020"></a>00020 <span class="comment">/// \li Extensive API</span> +<a name="l00021"></a>00021 <span class="comment">/// \li Subclass support</span> +<a name="l00022"></a>00022 <span class="comment">///</span> +<a name="l00023"></a>00023 <span class="comment">/// The latest version of this documentation can be downloaded from </span> +<a name="l00024"></a>00024 <span class="comment">/// http://www.open.com.au/mikem/arduino/AccelStepper</span> +<a name="l00025"></a>00025 <span class="comment">///</span> +<a name="l00026"></a>00026 <span class="comment">/// Example Arduino programs are included to show the main modes of use.</span> +<a name="l00027"></a>00027 <span class="comment">///</span> +<a name="l00028"></a>00028 <span class="comment">/// The version of the package that this documentation refers to can be downloaded </span> +<a name="l00029"></a>00029 <span class="comment">/// from http://www.open.com.au/mikem/arduino/AccelStepper/AccelStepper-1.11.zip</span> +<a name="l00030"></a>00030 <span class="comment">/// You can find the latest version at http://www.open.com.au/mikem/arduino/AccelStepper</span> +<a name="l00031"></a>00031 <span class="comment">///</span> +<a name="l00032"></a>00032 <span class="comment">/// Tested on Arduino Diecimila and Mega with arduino-0018 & arduino-0021 </span> +<a name="l00033"></a>00033 <span class="comment">/// on OpenSuSE 11.1 and avr-libc-1.6.1-1.15,</span> +<a name="l00034"></a>00034 <span class="comment">/// cross-avr-binutils-2.19-9.1, cross-avr-gcc-4.1.3_20080612-26.5.</span> +<a name="l00035"></a>00035 <span class="comment">///</span> +<a name="l00036"></a>00036 <span class="comment">/// \par Installation</span> +<a name="l00037"></a>00037 <span class="comment">/// Install in the usual way: unzip the distribution zip file to the libraries</span> +<a name="l00038"></a>00038 <span class="comment">/// sub-folder of your sketchbook. </span> +<a name="l00039"></a>00039 <span class="comment">///</span> +<a name="l00040"></a>00040 <span class="comment">/// This software is Copyright (C) 2010 Mike McCauley. Use is subject to license</span> +<a name="l00041"></a>00041 <span class="comment">/// conditions. The main licensing options available are GPL V2 or Commercial:</span> +<a name="l00042"></a>00042 <span class="comment">/// </span> +<a name="l00043"></a>00043 <span class="comment">/// \par Open Source Licensing GPL V2</span> +<a name="l00044"></a>00044 <span class="comment">/// This is the appropriate option if you want to share the source code of your</span> +<a name="l00045"></a>00045 <span class="comment">/// application with everyone you distribute it to, and you also want to give them</span> +<a name="l00046"></a>00046 <span class="comment">/// the right to share who uses it. If you wish to use this software under Open</span> +<a name="l00047"></a>00047 <span class="comment">/// Source Licensing, you must contribute all your source code to the open source</span> +<a name="l00048"></a>00048 <span class="comment">/// community in accordance with the GPL Version 2 when your application is</span> +<a name="l00049"></a>00049 <span class="comment">/// distributed. See http://www.gnu.org/copyleft/gpl.html</span> +<a name="l00050"></a>00050 <span class="comment">/// </span> +<a name="l00051"></a>00051 <span class="comment">/// \par Commercial Licensing</span> +<a name="l00052"></a>00052 <span class="comment">/// This is the appropriate option if you are creating proprietary applications</span> +<a name="l00053"></a>00053 <span class="comment">/// and you are not prepared to distribute and share the source code of your</span> +<a name="l00054"></a>00054 <span class="comment">/// application. Contact [email protected] for details.</span> +<a name="l00055"></a>00055 <span class="comment">///</span> +<a name="l00056"></a>00056 <span class="comment">/// \par Revision History</span> +<a name="l00057"></a>00057 <span class="comment">/// \version 1.0 Initial release</span> +<a name="l00058"></a>00058 <span class="comment">///</span> +<a name="l00059"></a>00059 <span class="comment">/// \version 1.1 Added speed() function to get the current speed.</span> +<a name="l00060"></a>00060 <span class="comment">/// \version 1.2 Added runSpeedToPosition() submitted by Gunnar Arndt.</span> +<a name="l00061"></a>00061 <span class="comment">/// \version 1.3 Added support for stepper drivers (ie with Step and Direction inputs) with _pins == 1</span> +<a name="l00062"></a>00062 <span class="comment">/// \version 1.4 Added functional contructor to support AFMotor, contributed by Limor, with example sketches.</span> +<a name="l00063"></a>00063 <span class="comment">/// \version 1.5 Improvements contributed by Peter Mousley: Use of microsecond steps and other speed improvements</span> +<a name="l00064"></a>00064 <span class="comment">/// to increase max stepping speed to about 4kHz. New option for user to set the min allowed pulse width.</span> +<a name="l00065"></a>00065 <span class="comment">/// Added checks for already running at max speed and skip further calcs if so. </span> +<a name="l00066"></a>00066 <span class="comment">/// \version 1.6 Fixed a problem with wrapping of microsecond stepping that could cause stepping to hang. </span> +<a name="l00067"></a>00067 <span class="comment">/// Reported by Sandy Noble.</span> +<a name="l00068"></a>00068 <span class="comment">/// Removed redundant _lastRunTime member.</span> +<a name="l00069"></a>00069 <span class="comment">/// \version 1.7 Fixed a bug where setCurrentPosition() did always work as expected. Reported by Peter Linhart.</span> +<a name="l00070"></a>00070 <span class="comment">/// Reported by Sandy Noble.</span> +<a name="l00071"></a>00071 <span class="comment">/// Removed redundant _lastRunTime member.</span> +<a name="l00072"></a>00072 <span class="comment">/// \version 1.8 Added support for 4 pin half-steppers, requested by Harvey Moon</span> +<a name="l00073"></a>00073 <span class="comment">/// \version 1.9 setCurrentPosition() now also sets motor speed to 0.</span> +<a name="l00074"></a>00074 <span class="comment">/// \version 1.10 Builds on Arduino 1.0</span> +<a name="l00075"></a>00075 <span class="comment">/// \version 1.11 Improvments from Michael Ellison:</span> +<a name="l00076"></a>00076 <span class="comment">/// Added optional enable line support for stepper drivers</span> +<a name="l00077"></a>00077 <span class="comment">/// Added inversion for step/direction/enable lines for stepper drivers</span> +<a name="l00078"></a>00078 <span class="comment">///</span> +<a name="l00079"></a>00079 <span class="comment">/// \author Mike McCauley ([email protected])</span> +<a name="l00080"></a>00080 <span class="comment"></span><span class="comment">// Copyright (C) 2009 Mike McCauley</span> +<a name="l00081"></a>00081 <span class="comment">// $Id: AccelStepper.h,v 1.5 2011/03/21 00:42:15 mikem Exp mikem $</span> +<a name="l00082"></a>00082 +<a name="l00083"></a>00083 <span class="preprocessor">#ifndef AccelStepper_h</span> +<a name="l00084"></a>00084 <span class="preprocessor"></span><span class="preprocessor">#define AccelStepper_h</span> +<a name="l00085"></a>00085 <span class="preprocessor"></span> +<a name="l00086"></a>00086 <span class="preprocessor">#include <stdlib.h></span> +<a name="l00087"></a>00087 <span class="preprocessor">#if ARDUINO >= 100</span> +<a name="l00088"></a>00088 <span class="preprocessor"></span><span class="preprocessor">#include <Arduino.h></span> +<a name="l00089"></a>00089 <span class="preprocessor">#else</span> +<a name="l00090"></a>00090 <span class="preprocessor"></span><span class="preprocessor">#include <wiring.h></span> +<a name="l00091"></a>00091 <span class="preprocessor">#endif</span> +<a name="l00092"></a>00092 <span class="preprocessor"></span> +<a name="l00093"></a>00093 <span class="comment">// These defs cause trouble on some versions of Arduino</span> +<a name="l00094"></a>00094 <span class="preprocessor">#undef round</span> +<a name="l00095"></a>00095 <span class="preprocessor"></span><span class="comment"></span> +<a name="l00096"></a>00096 <span class="comment">/////////////////////////////////////////////////////////////////////</span> +<a name="l00097"></a>00097 <span class="comment">/// \class AccelStepper AccelStepper.h <AccelStepper.h></span> +<a name="l00098"></a>00098 <span class="comment">/// \brief Support for stepper motors with acceleration etc.</span> +<a name="l00099"></a>00099 <span class="comment">///</span> +<a name="l00100"></a>00100 <span class="comment">/// This defines a single 2 or 4 pin stepper motor, or stepper moter with fdriver chip, with optional</span> +<a name="l00101"></a>00101 <span class="comment">/// acceleration, deceleration, absolute positioning commands etc. Multiple</span> +<a name="l00102"></a>00102 <span class="comment">/// simultaneous steppers are supported, all moving </span> +<a name="l00103"></a>00103 <span class="comment">/// at different speeds and accelerations. </span> +<a name="l00104"></a>00104 <span class="comment">///</span> +<a name="l00105"></a>00105 <span class="comment">/// \par Operation</span> +<a name="l00106"></a>00106 <span class="comment">/// This module operates by computing a step time in microseconds. The step</span> +<a name="l00107"></a>00107 <span class="comment">/// time is recomputed after each step and after speed and acceleration</span> +<a name="l00108"></a>00108 <span class="comment">/// parameters are changed by the caller. The time of each step is recorded in</span> +<a name="l00109"></a>00109 <span class="comment">/// microseconds. The run() function steps the motor if a new step is due.</span> +<a name="l00110"></a>00110 <span class="comment">/// The run() function must be called frequently until the motor is in the</span> +<a name="l00111"></a>00111 <span class="comment">/// desired position, after which time run() will do nothing.</span> +<a name="l00112"></a>00112 <span class="comment">///</span> +<a name="l00113"></a>00113 <span class="comment">/// \par Positioning</span> +<a name="l00114"></a>00114 <span class="comment">/// Positions are specified by a signed long integer. At</span> +<a name="l00115"></a>00115 <span class="comment">/// construction time, the current position of the motor is consider to be 0. Positive</span> +<a name="l00116"></a>00116 <span class="comment">/// positions are clockwise from the initial position; negative positions are</span> +<a name="l00117"></a>00117 <span class="comment">/// anticlockwise. The curent position can be altered for instance after</span> +<a name="l00118"></a>00118 <span class="comment">/// initialization positioning.</span> +<a name="l00119"></a>00119 <span class="comment">///</span> +<a name="l00120"></a>00120 <span class="comment">/// \par Caveats</span> +<a name="l00121"></a>00121 <span class="comment">/// This is an open loop controller: If the motor stalls or is oversped,</span> +<a name="l00122"></a>00122 <span class="comment">/// AccelStepper will not have a correct </span> +<a name="l00123"></a>00123 <span class="comment">/// idea of where the motor really is (since there is no feedback of the motor's</span> +<a name="l00124"></a>00124 <span class="comment">/// real position. We only know where we _think_ it is, relative to the</span> +<a name="l00125"></a>00125 <span class="comment">/// initial starting point).</span> +<a name="l00126"></a>00126 <span class="comment">///</span> +<a name="l00127"></a>00127 <span class="comment">/// The fastest motor speed that can be reliably supported is 4000 steps per</span> +<a name="l00128"></a>00128 <span class="comment">/// second (4 kHz) at a clock frequency of 16 MHz. However, any speed less than that</span> +<a name="l00129"></a>00129 <span class="comment">/// down to very slow speeds (much less than one per second) are also supported,</span> +<a name="l00130"></a>00130 <span class="comment">/// provided the run() function is called frequently enough to step the motor</span> +<a name="l00131"></a>00131 <span class="comment">/// whenever required for the speed set.</span> +<a name="l00132"></a><a class="code" href="classAccelStepper.html">00132</a> <span class="comment"></span><span class="keyword">class </span><a class="code" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc.">AccelStepper</a> +<a name="l00133"></a>00133 { +<a name="l00134"></a>00134 <span class="keyword">public</span>:<span class="comment"></span> +<a name="l00135"></a>00135 <span class="comment"> /// Constructor. You can have multiple simultaneous steppers, all moving</span> +<a name="l00136"></a>00136 <span class="comment"> /// at different speeds and accelerations, provided you call their run()</span> +<a name="l00137"></a>00137 <span class="comment"> /// functions at frequent enough intervals. Current Position is set to 0, target</span> +<a name="l00138"></a>00138 <span class="comment"> /// position is set to 0. MaxSpeed and Acceleration default to 1.0.</span> +<a name="l00139"></a>00139 <span class="comment"> /// The motor pins will be initialised to OUTPUT mode during the</span> +<a name="l00140"></a>00140 <span class="comment"> /// constructor by a call to enableOutputs().</span> +<a name="l00141"></a>00141 <span class="comment"> /// \param[in] pins Number of pins to interface to. 1, 2 or 4 are</span> +<a name="l00142"></a>00142 <span class="comment"> /// supported. 1 means a stepper driver (with Step and Direction pins).</span> +<a name="l00143"></a>00143 <span class="comment"> /// If an enable line is also needed, call setEnablePin() after construction.</span> +<a name="l00144"></a>00144 <span class="comment"> /// You may also invert the pins using setPinsInverted().</span> +<a name="l00145"></a>00145 <span class="comment"> /// 2 means a 2 wire stepper. 4 means a 4 wire stepper. 8 means a 4 wire half stepper</span> +<a name="l00146"></a>00146 <span class="comment"> /// Defaults to 4 pins.</span> +<a name="l00147"></a>00147 <span class="comment"> /// \param[in] pin1 Arduino digital pin number for motor pin 1. Defaults</span> +<a name="l00148"></a>00148 <span class="comment"> /// to pin 2. For a driver (pins==1), this is the Step input to the driver. Low to high transition means to step)</span> +<a name="l00149"></a>00149 <span class="comment"> /// \param[in] pin2 Arduino digital pin number for motor pin 2. Defaults</span> +<a name="l00150"></a>00150 <span class="comment"> /// to pin 3. For a driver (pins==1), this is the Direction input the driver. High means forward.</span> +<a name="l00151"></a>00151 <span class="comment"> /// \param[in] pin3 Arduino digital pin number for motor pin 3. Defaults</span> +<a name="l00152"></a>00152 <span class="comment"> /// to pin 4.</span> +<a name="l00153"></a>00153 <span class="comment"> /// \param[in] pin4 Arduino digital pin number for motor pin 4. Defaults</span> +<a name="l00154"></a>00154 <span class="comment"> /// to pin 5.</span> +<a name="l00155"></a>00155 <span class="comment"></span> <a class="code" href="classAccelStepper.html#a1290897df35915069e5eca9d034038c">AccelStepper</a>(uint8_t pins = 4, uint8_t pin1 = 2, uint8_t pin2 = 3, uint8_t pin3 = 4, uint8_t pin4 = 5); +<a name="l00156"></a>00156 <span class="comment"></span> +<a name="l00157"></a>00157 <span class="comment"> /// Alternate Constructor which will call your own functions for forward and backward steps. </span> +<a name="l00158"></a>00158 <span class="comment"> /// You can have multiple simultaneous steppers, all moving</span> +<a name="l00159"></a>00159 <span class="comment"> /// at different speeds and accelerations, provided you call their run()</span> +<a name="l00160"></a>00160 <span class="comment"> /// functions at frequent enough intervals. Current Position is set to 0, target</span> +<a name="l00161"></a>00161 <span class="comment"> /// position is set to 0. MaxSpeed and Acceleration default to 1.0.</span> +<a name="l00162"></a>00162 <span class="comment"> /// Any motor initialization should happen before hand, no pins are used or initialized.</span> +<a name="l00163"></a>00163 <span class="comment"> /// \param[in] forward void-returning procedure that will make a forward step</span> +<a name="l00164"></a>00164 <span class="comment"> /// \param[in] backward void-returning procedure that will make a backward step</span> +<a name="l00165"></a>00165 <span class="comment"></span> <a class="code" href="classAccelStepper.html#a1290897df35915069e5eca9d034038c">AccelStepper</a>(<span class="keywordtype">void</span> (*forward)(), <span class="keywordtype">void</span> (*backward)()); +<a name="l00166"></a>00166 <span class="comment"></span> +<a name="l00167"></a>00167 <span class="comment"> /// Set the target position. The run() function will try to move the motor</span> +<a name="l00168"></a>00168 <span class="comment"> /// from the current position to the target position set by the most</span> +<a name="l00169"></a>00169 <span class="comment"> /// recent call to this function.</span> +<a name="l00170"></a>00170 <span class="comment"> /// \param[in] absolute The desired absolute position. Negative is</span> +<a name="l00171"></a>00171 <span class="comment"> /// anticlockwise from the 0 position.</span> +<a name="l00172"></a>00172 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#ce236ede35f87c63d18da25810ec9736">moveTo</a>(<span class="keywordtype">long</span> absolute); +<a name="l00173"></a>00173 <span class="comment"></span> +<a name="l00174"></a>00174 <span class="comment"> /// Set the target position relative to the current position</span> +<a name="l00175"></a>00175 <span class="comment"> /// \param[in] relative The desired position relative to the current position. Negative is</span> +<a name="l00176"></a>00176 <span class="comment"> /// anticlockwise from the current position.</span> +<a name="l00177"></a>00177 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#68942c66e78fb7f7b5f0cdade6eb7f06">move</a>(<span class="keywordtype">long</span> relative); +<a name="l00178"></a>00178 <span class="comment"></span> +<a name="l00179"></a>00179 <span class="comment"> /// Poll the motor and step it if a step is due, implementing</span> +<a name="l00180"></a>00180 <span class="comment"> /// accelerations and decelerations to achive the ratget position. You must call this as</span> +<a name="l00181"></a>00181 <span class="comment"> /// fequently as possible, but at least once per minimum step interval,</span> +<a name="l00182"></a>00182 <span class="comment"> /// preferably in your main loop.</span> +<a name="l00183"></a>00183 <span class="comment"> /// \return true if the motor is at the target position.</span> +<a name="l00184"></a>00184 <span class="comment"></span> <span class="keywordtype">boolean</span> <a class="code" href="classAccelStepper.html#608b2395b64ac15451d16d0371fe13ce">run</a>(); +<a name="l00185"></a>00185 <span class="comment"></span> +<a name="l00186"></a>00186 <span class="comment"> /// Poll the motor and step it if a step is due, implmenting a constant</span> +<a name="l00187"></a>00187 <span class="comment"> /// speed as set by the most recent call to setSpeed().</span> +<a name="l00188"></a>00188 <span class="comment"> /// \return true if the motor was stepped.</span> +<a name="l00189"></a>00189 <span class="comment"></span> <span class="keywordtype">boolean</span> <a class="code" href="classAccelStepper.html#a4a6bdf99f698284faaeb5542b0b7514">runSpeed</a>(); +<a name="l00190"></a>00190 <span class="comment"></span> +<a name="l00191"></a>00191 <span class="comment"> /// Sets the maximum permitted speed. the run() function will accelerate</span> +<a name="l00192"></a>00192 <span class="comment"> /// up to the speed set by this function.</span> +<a name="l00193"></a>00193 <span class="comment"> /// \param[in] speed The desired maximum speed in steps per second. Must</span> +<a name="l00194"></a>00194 <span class="comment"> /// be > 0. Speeds of more than 1000 steps per second are unreliable. </span> +<a name="l00195"></a>00195 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#bee8d466229b87accba33d6ec929c18f">setMaxSpeed</a>(<span class="keywordtype">float</span> <a class="code" href="classAccelStepper.html#4f0989d0ae264e7eadfe1fa720769fb6">speed</a>); +<a name="l00196"></a>00196 <span class="comment"></span> +<a name="l00197"></a>00197 <span class="comment"> /// Sets the acceleration and deceleration parameter.</span> +<a name="l00198"></a>00198 <span class="comment"> /// \param[in] acceleration The desired acceleration in steps per second</span> +<a name="l00199"></a>00199 <span class="comment"> /// per second. Must be > 0.</span> +<a name="l00200"></a>00200 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#dfb19e3cd2a028a1fe78131787604fd1">setAcceleration</a>(<span class="keywordtype">float</span> acceleration); +<a name="l00201"></a>00201 <span class="comment"></span> +<a name="l00202"></a>00202 <span class="comment"> /// Sets the desired constant speed for use with runSpeed().</span> +<a name="l00203"></a>00203 <span class="comment"> /// \param[in] speed The desired constant speed in steps per</span> +<a name="l00204"></a>00204 <span class="comment"> /// second. Positive is clockwise. Speeds of more than 1000 steps per</span> +<a name="l00205"></a>00205 <span class="comment"> /// second are unreliable. Very slow speeds may be set (eg 0.00027777 for</span> +<a name="l00206"></a>00206 <span class="comment"> /// once per hour, approximately. Speed accuracy depends on the Arduino</span> +<a name="l00207"></a>00207 <span class="comment"> /// crystal. Jitter depends on how frequently you call the runSpeed() function.</span> +<a name="l00208"></a>00208 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#e79c49ad69d5ccc9da0ee691fa4ca235">setSpeed</a>(<span class="keywordtype">float</span> speed); +<a name="l00209"></a>00209 <span class="comment"></span> +<a name="l00210"></a>00210 <span class="comment"> /// The most recently set speed</span> +<a name="l00211"></a>00211 <span class="comment"> /// \return the most recent speed in steps per second</span> +<a name="l00212"></a>00212 <span class="comment"></span> <span class="keywordtype">float</span> <a class="code" href="classAccelStepper.html#4f0989d0ae264e7eadfe1fa720769fb6">speed</a>(); +<a name="l00213"></a>00213 <span class="comment"></span> +<a name="l00214"></a>00214 <span class="comment"> /// The distance from the current position to the target position.</span> +<a name="l00215"></a>00215 <span class="comment"> /// \return the distance from the current position to the target position</span> +<a name="l00216"></a>00216 <span class="comment"> /// in steps. Positive is clockwise from the current position.</span> +<a name="l00217"></a>00217 <span class="comment"></span> <span class="keywordtype">long</span> <a class="code" href="classAccelStepper.html#748665c3962e66fbc0e9373eb14c69c1">distanceToGo</a>(); +<a name="l00218"></a>00218 <span class="comment"></span> +<a name="l00219"></a>00219 <span class="comment"> /// The most recently set target position.</span> +<a name="l00220"></a>00220 <span class="comment"> /// \return the target position</span> +<a name="l00221"></a>00221 <span class="comment"> /// in steps. Positive is clockwise from the 0 position.</span> +<a name="l00222"></a>00222 <span class="comment"></span> <span class="keywordtype">long</span> <a class="code" href="classAccelStepper.html#96685e0945b7cf75d5959da679cd911e">targetPosition</a>(); +<a name="l00223"></a>00223 +<a name="l00224"></a>00224 <span class="comment"></span> +<a name="l00225"></a>00225 <span class="comment"> /// The currently motor position.</span> +<a name="l00226"></a>00226 <span class="comment"> /// \return the current motor position</span> +<a name="l00227"></a>00227 <span class="comment"> /// in steps. Positive is clockwise from the 0 position.</span> +<a name="l00228"></a>00228 <span class="comment"></span> <span class="keywordtype">long</span> <a class="code" href="classAccelStepper.html#5dce13ab2a1b02b8f443318886bf6fc5">currentPosition</a>(); +<a name="l00229"></a>00229 <span class="comment"></span> +<a name="l00230"></a>00230 <span class="comment"> /// Resets the current position of the motor, so that wherever the motor</span> +<a name="l00231"></a>00231 <span class="comment"> /// happens to be right now is considered to be the new 0 position. Useful</span> +<a name="l00232"></a>00232 <span class="comment"> /// for setting a zero position on a stepper after an initial hardware</span> +<a name="l00233"></a>00233 <span class="comment"> /// positioning move.</span> +<a name="l00234"></a>00234 <span class="comment"> /// Has the side effect of setting the current motor speed to 0.</span> +<a name="l00235"></a>00235 <span class="comment"> /// \param[in] position The position in steps of wherever the motor</span> +<a name="l00236"></a>00236 <span class="comment"> /// happens to be right now.</span> +<a name="l00237"></a>00237 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#9d917f014317fb9d3b5dc14e66f6c689">setCurrentPosition</a>(<span class="keywordtype">long</span> position); +<a name="l00238"></a>00238 <span class="comment"></span> +<a name="l00239"></a>00239 <span class="comment"> /// Moves the motor to the target position and blocks until it is at</span> +<a name="l00240"></a>00240 <span class="comment"> /// position. Dont use this in event loops, since it blocks.</span> +<a name="l00241"></a>00241 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#344f58fef8cc34ac5aa75ba4b665d21c">runToPosition</a>(); +<a name="l00242"></a>00242 <span class="comment"></span> +<a name="l00243"></a>00243 <span class="comment"> /// Runs at the currently selected speed until the target position is reached</span> +<a name="l00244"></a>00244 <span class="comment"> /// Does not implement accelerations.</span> +<a name="l00245"></a>00245 <span class="comment"></span> <span class="keywordtype">boolean</span> <a class="code" href="classAccelStepper.html#9270d20336e76ac1fd5bcd5b9c34f301">runSpeedToPosition</a>(); +<a name="l00246"></a>00246 <span class="comment"></span> +<a name="l00247"></a>00247 <span class="comment"> /// Moves the motor to the new target position and blocks until it is at</span> +<a name="l00248"></a>00248 <span class="comment"> /// position. Dont use this in event loops, since it blocks.</span> +<a name="l00249"></a>00249 <span class="comment"> /// \param[in] position The new target position.</span> +<a name="l00250"></a>00250 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#176c5d2e4c2f21e9e92b12e39a6f0e67">runToNewPosition</a>(<span class="keywordtype">long</span> position); +<a name="l00251"></a>00251 <span class="comment"></span> +<a name="l00252"></a>00252 <span class="comment"> /// Disable motor pin outputs by setting them all LOW</span> +<a name="l00253"></a>00253 <span class="comment"> /// Depending on the design of your electronics this may turn off</span> +<a name="l00254"></a>00254 <span class="comment"> /// the power to the motor coils, saving power.</span> +<a name="l00255"></a>00255 <span class="comment"> /// This is useful to support Arduino low power modes: disable the outputs</span> +<a name="l00256"></a>00256 <span class="comment"> /// during sleep and then reenable with enableOutputs() before stepping</span> +<a name="l00257"></a>00257 <span class="comment"> /// again.</span> +<a name="l00258"></a>00258 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#3591e29a236e2935afd7f64ff6c22006">disableOutputs</a>(); +<a name="l00259"></a>00259 <span class="comment"></span> +<a name="l00260"></a>00260 <span class="comment"> /// Enable motor pin outputs by setting the motor pins to OUTPUT</span> +<a name="l00261"></a>00261 <span class="comment"> /// mode. Called automatically by the constructor.</span> +<a name="l00262"></a>00262 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#a279a50d30d0413f570c692cff071643">enableOutputs</a>(); +<a name="l00263"></a>00263 <span class="comment"></span> +<a name="l00264"></a>00264 <span class="comment"> /// Sets the minimum pulse width allowed by the stepper driver.</span> +<a name="l00265"></a>00265 <span class="comment"> /// \param[in] minWidth The minimum pulse width in microseconds.</span> +<a name="l00266"></a>00266 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#f4d3818e691dad5dc518308796ccf154">setMinPulseWidth</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> minWidth); +<a name="l00267"></a>00267 <span class="comment"></span> +<a name="l00268"></a>00268 <span class="comment"> /// Sets the enable pin number for stepper drivers.</span> +<a name="l00269"></a>00269 <span class="comment"> /// 0xFF indicates unused (default).</span> +<a name="l00270"></a>00270 <span class="comment"> /// Otherwise, if a pin is set, the pin will be turned on when </span> +<a name="l00271"></a>00271 <span class="comment"> /// enableOutputs() is called and switched off when disableOutputs() </span> +<a name="l00272"></a>00272 <span class="comment"> /// is called.</span> +<a name="l00273"></a>00273 <span class="comment"> /// \param[in] enablePin Arduino digital pin number for motor enable</span> +<a name="l00274"></a>00274 <span class="comment"> /// \sa setPinsInverted</span> +<a name="l00275"></a>00275 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#56a81c5f00d02ca19646718e88e974c0">setEnablePin</a>(uint8_t enablePin = 0xff); +<a name="l00276"></a>00276 <span class="comment"></span> +<a name="l00277"></a>00277 <span class="comment"> /// Sets the inversion for stepper driver pins</span> +<a name="l00278"></a>00278 <span class="comment"> /// \param[in] direction True for inverted direction pin, false for non-inverted</span> +<a name="l00279"></a>00279 <span class="comment"> /// \param[in] step True for inverted step pin, false for non-inverted</span> +<a name="l00280"></a>00280 <span class="comment"> /// \param[in] enable True for inverted enable pin, false (default) for non-inverted</span> +<a name="l00281"></a>00281 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#797b4bdb580d4ca7a1cfeabe3df0de35">setPinsInverted</a>(<span class="keywordtype">bool</span> direction, <span class="keywordtype">bool</span> <a class="code" href="classAccelStepper.html#3c9a220819d2451f79ff8a0c0a395b9f">step</a>, <span class="keywordtype">bool</span> enable = <span class="keyword">false</span>); +<a name="l00282"></a>00282 +<a name="l00283"></a>00283 <span class="keyword">protected</span>: +<a name="l00284"></a>00284 <span class="comment"></span> +<a name="l00285"></a>00285 <span class="comment"> /// Forces the library to compute a new instantaneous speed and set that as</span> +<a name="l00286"></a>00286 <span class="comment"> /// the current speed. Calls</span> +<a name="l00287"></a>00287 <span class="comment"> /// desiredSpeed(), which can be overridden by subclasses. It is called by</span> +<a name="l00288"></a>00288 <span class="comment"> /// the library:</span> +<a name="l00289"></a>00289 <span class="comment"> /// \li after each step</span> +<a name="l00290"></a>00290 <span class="comment"> /// \li after change to maxSpeed through setMaxSpeed()</span> +<a name="l00291"></a>00291 <span class="comment"> /// \li after change to acceleration through setAcceleration()</span> +<a name="l00292"></a>00292 <span class="comment"> /// \li after change to target position (relative or absolute) through</span> +<a name="l00293"></a>00293 <span class="comment"> /// move() or moveTo()</span> +<a name="l00294"></a>00294 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#ffbee789b5c19165846cf0409860ae79">computeNewSpeed</a>(); +<a name="l00295"></a>00295 <span class="comment"></span> +<a name="l00296"></a>00296 <span class="comment"> /// Called to execute a step. Only called when a new step is</span> +<a name="l00297"></a>00297 <span class="comment"> /// required. Subclasses may override to implement new stepping</span> +<a name="l00298"></a>00298 <span class="comment"> /// interfaces. The default calls step1(), step2(), step4() or step8() depending on the</span> +<a name="l00299"></a>00299 <span class="comment"> /// number of pins defined for the stepper.</span> +<a name="l00300"></a>00300 <span class="comment"> /// \param[in] step The current step phase number (0 to 7)</span> +<a name="l00301"></a>00301 <span class="comment"></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#3c9a220819d2451f79ff8a0c0a395b9f">step</a>(uint8_t step); +<a name="l00302"></a>00302 <span class="comment"></span> +<a name="l00303"></a>00303 <span class="comment"> /// Called to execute a step using stepper functions (pins = 0) Only called when a new step is</span> +<a name="l00304"></a>00304 <span class="comment"> /// required. Calls _forward() or _backward() to perform the step</span> +<a name="l00305"></a>00305 <span class="comment"></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#889f109756aa4c0a2feefebd8081a337">step0</a>(<span class="keywordtype">void</span>); +<a name="l00306"></a>00306 <span class="comment"></span> +<a name="l00307"></a>00307 <span class="comment"> /// Called to execute a step on a stepper drover (ie where pins == 1). Only called when a new step is</span> +<a name="l00308"></a>00308 <span class="comment"> /// required. Subclasses may override to implement new stepping</span> +<a name="l00309"></a>00309 <span class="comment"> /// interfaces. The default sets or clears the outputs of Step pin1 to step, </span> +<a name="l00310"></a>00310 <span class="comment"> /// and sets the output of _pin2 to the desired direction. The Step pin (_pin1) is pulsed for 1 microsecond</span> +<a name="l00311"></a>00311 <span class="comment"> /// which is the minimum STEP pulse width for the 3967 driver.</span> +<a name="l00312"></a>00312 <span class="comment"> /// \param[in] step The current step phase number (0 to 7)</span> +<a name="l00313"></a>00313 <span class="comment"></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#cc64254ea242b53588e948335fd9305f">step1</a>(uint8_t step); +<a name="l00314"></a>00314 <span class="comment"></span> +<a name="l00315"></a>00315 <span class="comment"> /// Called to execute a step on a 2 pin motor. Only called when a new step is</span> +<a name="l00316"></a>00316 <span class="comment"> /// required. Subclasses may override to implement new stepping</span> +<a name="l00317"></a>00317 <span class="comment"> /// interfaces. The default sets or clears the outputs of pin1 and pin2</span> +<a name="l00318"></a>00318 <span class="comment"> /// \param[in] step The current step phase number (0 to 7)</span> +<a name="l00319"></a>00319 <span class="comment"></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#88f11bf6361fe002585f731d34fe2e8b">step2</a>(uint8_t step); +<a name="l00320"></a>00320 <span class="comment"></span> +<a name="l00321"></a>00321 <span class="comment"> /// Called to execute a step on a 4 pin motor. Only called when a new step is</span> +<a name="l00322"></a>00322 <span class="comment"> /// required. Subclasses may override to implement new stepping</span> +<a name="l00323"></a>00323 <span class="comment"> /// interfaces. The default sets or clears the outputs of pin1, pin2,</span> +<a name="l00324"></a>00324 <span class="comment"> /// pin3, pin4.</span> +<a name="l00325"></a>00325 <span class="comment"> /// \param[in] step The current step phase number (0 to 7)</span> +<a name="l00326"></a>00326 <span class="comment"></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#49e448d179bbe4e0f8003a3f9993789d">step4</a>(uint8_t step); +<a name="l00327"></a>00327 <span class="comment"></span> +<a name="l00328"></a>00328 <span class="comment"> /// Called to execute a step on a 4 pin half-steper motor. Only called when a new step is</span> +<a name="l00329"></a>00329 <span class="comment"> /// required. Subclasses may override to implement new stepping</span> +<a name="l00330"></a>00330 <span class="comment"> /// interfaces. The default sets or clears the outputs of pin1, pin2,</span> +<a name="l00331"></a>00331 <span class="comment"> /// pin3, pin4.</span> +<a name="l00332"></a>00332 <span class="comment"> /// \param[in] step The current step phase number (0 to 7)</span> +<a name="l00333"></a>00333 <span class="comment"></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#5b33d1088e2beaf2176c42b08fb675ea">step8</a>(uint8_t step); +<a name="l00334"></a>00334 <span class="comment"></span> +<a name="l00335"></a>00335 <span class="comment"> /// Compute and return the desired speed. The default algorithm uses</span> +<a name="l00336"></a>00336 <span class="comment"> /// maxSpeed, acceleration and the current speed to set a new speed to</span> +<a name="l00337"></a>00337 <span class="comment"> /// move the motor from teh current position to the target</span> +<a name="l00338"></a>00338 <span class="comment"> /// position. Subclasses may override this to provide an alternate</span> +<a name="l00339"></a>00339 <span class="comment"> /// algorithm (but do not block). Called by computeNewSpeed whenever a new speed neds to be</span> +<a name="l00340"></a>00340 <span class="comment"> /// computed. </span> +<a name="l00341"></a>00341 <span class="comment"></span> <span class="keyword">virtual</span> <span class="keywordtype">float</span> <a class="code" href="classAccelStepper.html#6e4bd79c395e69beee31d76d0d3287e4">desiredSpeed</a>(); +<a name="l00342"></a>00342 +<a name="l00343"></a>00343 <span class="keyword">private</span>:<span class="comment"></span> +<a name="l00344"></a>00344 <span class="comment"> /// Number of pins on the stepper motor. Permits 2 or 4. 2 pins is a</span> +<a name="l00345"></a>00345 <span class="comment"> /// bipolar, and 4 pins is a unipolar.</span> +<a name="l00346"></a>00346 <span class="comment"></span> uint8_t _pins; <span class="comment">// 2 or 4</span> +<a name="l00347"></a>00347 <span class="comment"></span> +<a name="l00348"></a>00348 <span class="comment"> /// Arduino pin number for the 2 or 4 pins required to interface to the</span> +<a name="l00349"></a>00349 <span class="comment"> /// stepper motor.</span> +<a name="l00350"></a>00350 <span class="comment"></span> uint8_t _pin1, _pin2, _pin3, _pin4; +<a name="l00351"></a>00351 <span class="comment"></span> +<a name="l00352"></a>00352 <span class="comment"> /// The current absolution position in steps.</span> +<a name="l00353"></a>00353 <span class="comment"></span> <span class="keywordtype">long</span> _currentPos; <span class="comment">// Steps</span> +<a name="l00354"></a>00354 <span class="comment"></span> +<a name="l00355"></a>00355 <span class="comment"> /// The target position in steps. The AccelStepper library will move the</span> +<a name="l00356"></a>00356 <span class="comment"> /// motor from the _currentPos to the _targetPos, taking into account the</span> +<a name="l00357"></a>00357 <span class="comment"> /// max speed, acceleration and deceleration</span> +<a name="l00358"></a>00358 <span class="comment"></span> <span class="keywordtype">long</span> _targetPos; <span class="comment">// Steps</span> +<a name="l00359"></a>00359 <span class="comment"></span> +<a name="l00360"></a>00360 <span class="comment"> /// The current motos speed in steps per second</span> +<a name="l00361"></a>00361 <span class="comment"> /// Positive is clockwise</span> +<a name="l00362"></a>00362 <span class="comment"></span> <span class="keywordtype">float</span> _speed; <span class="comment">// Steps per second</span> +<a name="l00363"></a>00363 <span class="comment"></span> +<a name="l00364"></a>00364 <span class="comment"> /// The maximum permitted speed in steps per second. Must be > 0.</span> +<a name="l00365"></a>00365 <span class="comment"></span> <span class="keywordtype">float</span> _maxSpeed; +<a name="l00366"></a>00366 <span class="comment"></span> +<a name="l00367"></a>00367 <span class="comment"> /// The acceleration to use to accelerate or decelerate the motor in steps</span> +<a name="l00368"></a>00368 <span class="comment"> /// per second per second. Must be > 0</span> +<a name="l00369"></a>00369 <span class="comment"></span> <span class="keywordtype">float</span> _acceleration; +<a name="l00370"></a>00370 <span class="comment"></span> +<a name="l00371"></a>00371 <span class="comment"> /// The current interval between steps in microseconds</span> +<a name="l00372"></a>00372 <span class="comment"></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> _stepInterval; +<a name="l00373"></a>00373 <span class="comment"></span> +<a name="l00374"></a>00374 <span class="comment"> /// The last step time in microseconds</span> +<a name="l00375"></a>00375 <span class="comment"></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> _lastStepTime; +<a name="l00376"></a>00376 <span class="comment"></span> +<a name="l00377"></a>00377 <span class="comment"> /// The minimum allowed pulse width in microseconds</span> +<a name="l00378"></a>00378 <span class="comment"></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _minPulseWidth; +<a name="l00379"></a>00379 <span class="comment"></span> +<a name="l00380"></a>00380 <span class="comment"> /// Is the direction pin inverted?</span> +<a name="l00381"></a>00381 <span class="comment"></span> <span class="keywordtype">bool</span> _dirInverted; +<a name="l00382"></a>00382 <span class="comment"></span> +<a name="l00383"></a>00383 <span class="comment"> /// Is the step pin inverted?</span> +<a name="l00384"></a>00384 <span class="comment"></span> <span class="keywordtype">bool</span> _stepInverted; +<a name="l00385"></a>00385 <span class="comment"></span> +<a name="l00386"></a>00386 <span class="comment"> /// Is the enable pin inverted?</span> +<a name="l00387"></a>00387 <span class="comment"></span> <span class="keywordtype">bool</span> _enableInverted; +<a name="l00388"></a>00388 <span class="comment"></span> +<a name="l00389"></a>00389 <span class="comment"> /// Enable pin for stepper driver, or 0xFF if unused.</span> +<a name="l00390"></a>00390 <span class="comment"></span> uint8_t _enablePin; +<a name="l00391"></a>00391 +<a name="l00392"></a>00392 <span class="comment">// The pointer to a forward-step procedure</span> +<a name="l00393"></a>00393 void (*_forward)(); +<a name="l00394"></a>00394 +<a name="l00395"></a>00395 <span class="comment">// The pointer to a backward-step procedure</span> +<a name="l00396"></a>00396 void (*_backward)(); +<a name="l00397"></a>00397 }; +<a name="l00398"></a>00398 +<a name="l00399"></a>00399 <span class="preprocessor">#endif </span> +</pre></div></div> +<hr size="1"><address style="text-align: right;"><small>Generated on Sun Jan 8 17:27:41 2012 for AccelStepper by +<a href="http://www.doxygen.org/index.html"> +<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.6 </small></address> +</body> +</html> diff --git a/Arduino/libraries/AccelStepper/extras/doc/annotated.html b/Arduino/libraries/AccelStepper/extras/doc/annotated.html new file mode 100644 index 0000000..e60691d --- /dev/null +++ b/Arduino/libraries/AccelStepper/extras/doc/annotated.html @@ -0,0 +1,57 @@ +<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> +<html xmlns="http://www.w3.org/1999/xhtml"> +<head> +<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/> +<meta http-equiv="X-UA-Compatible" content="IE=9"/> +<meta name="generator" content="Doxygen 1.9.1"/> +<meta name="viewport" content="width=device-width, initial-scale=1"/> +<title>AccelStepper: Class List</title> +<link href="tabs.css" rel="stylesheet" type="text/css"/> +<script type="text/javascript" src="jquery.js"></script> +<script type="text/javascript" src="dynsections.js"></script> +<link href="doxygen.css" rel="stylesheet" type="text/css" /> +</head> +<body> +<div id="top"><!-- do not remove this div, it is closed by doxygen! --> +<div id="titlearea"> +<table cellspacing="0" cellpadding="0"> + <tbody> + <tr style="height: 56px;"> + <td id="projectalign" style="padding-left: 0.5em;"> + <div id="projectname">AccelStepper + </div> + </td> + </tr> + </tbody> +</table> +</div> +<!-- end header part --> +<!-- Generated by Doxygen 1.9.1 --> +<script type="text/javascript" src="menudata.js"></script> +<script type="text/javascript" src="menu.js"></script> +<script type="text/javascript"> +/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */ +$(function() { + initMenu('',false,false,'search.php','Search'); +}); +/* @license-end */</script> +<div id="main-nav"></div> +</div><!-- top --> +<div class="header"> + <div class="headertitle"> +<div class="title">Class List</div> </div> +</div><!--header--> +<div class="contents"> +<div class="textblock">Here are the classes, structs, unions and interfaces with brief descriptions:</div><div class="directory"> +<table class="directory"> +<tr id="row_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classAccelStepper.html" target="_self">AccelStepper</a></td><td class="desc">Support for stepper motors with acceleration etc </td></tr> +<tr id="row_1_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classMultiStepper.html" target="_self">MultiStepper</a></td><td class="desc">Operate multiple AccelSteppers in a co-ordinated fashion </td></tr> +</table> +</div><!-- directory --> +</div><!-- contents --> +<!-- start footer part --> +<hr class="footer"/><address class="footer"><small> +Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 +</small></address> +</body> +</html> diff --git a/Arduino/libraries/AccelStepper/extras/doc/classAccelStepper-members.html b/Arduino/libraries/AccelStepper/extras/doc/classAccelStepper-members.html new file mode 100644 index 0000000..49f5140 --- /dev/null +++ b/Arduino/libraries/AccelStepper/extras/doc/classAccelStepper-members.html @@ -0,0 +1,107 @@ +<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> +<html xmlns="http://www.w3.org/1999/xhtml"> +<head> +<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/> +<meta http-equiv="X-UA-Compatible" content="IE=9"/> +<meta name="generator" content="Doxygen 1.9.1"/> +<meta name="viewport" content="width=device-width, initial-scale=1"/> +<title>AccelStepper: Member List</title> +<link href="tabs.css" rel="stylesheet" type="text/css"/> +<script type="text/javascript" src="jquery.js"></script> +<script type="text/javascript" src="dynsections.js"></script> +<link href="doxygen.css" rel="stylesheet" type="text/css" /> +</head> +<body> +<div id="top"><!-- do not remove this div, it is closed by doxygen! --> +<div id="titlearea"> +<table cellspacing="0" cellpadding="0"> + <tbody> + <tr style="height: 56px;"> + <td id="projectalign" style="padding-left: 0.5em;"> + <div id="projectname">AccelStepper + </div> + </td> + </tr> + </tbody> +</table> +</div> +<!-- end header part --> +<!-- Generated by Doxygen 1.9.1 --> +<script type="text/javascript" src="menudata.js"></script> +<script type="text/javascript" src="menu.js"></script> +<script type="text/javascript"> +/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */ +$(function() { + initMenu('',false,false,'search.php','Search'); +}); +/* @license-end */</script> +<div id="main-nav"></div> +</div><!-- top --> +<div class="header"> + <div class="headertitle"> +<div class="title">AccelStepper Member List</div> </div> +</div><!--header--> +<div class="contents"> + +<p>This is the complete list of members for <a class="el" href="classAccelStepper.html">AccelStepper</a>, including all inherited members.</p> +<table class="directory"> + <tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a35162cdf8ed9a98f98984c177d5ade58">_direction</a></td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr><td class="entry"><a class="el" href="classAccelStepper.html#a744fa74c2e181e75509a34b17c02e984">_stepInterval</a></td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a8b76f1ae6a49d2c2887b9fea30b8d84f">acceleration</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr><td class="entry"><a class="el" href="classAccelStepper.html#a3bc75bd6571b98a6177838ca81ac39ab">AccelStepper</a>(uint8_t interface=AccelStepper::FULL4WIRE, uint8_t pin1=2, uint8_t pin2=3, uint8_t pin3=4, uint8_t pin4=5, bool enable=true)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#afa3061ce813303a8f2fa206ee8d012bd">AccelStepper</a>(void(*forward)(), void(*backward)())</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr><td class="entry"><a class="el" href="classAccelStepper.html#aab5944f43f869675958939c421bd9a01">computeNewSpeed</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a5dce13ab2a1b02b8f443318886bf6fc5">currentPosition</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr><td class="entry"><a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228">Direction</a> enum name</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228a6959a4549f734bd771d418f995ba4fb4">DIRECTION_CCW</a> enum value</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr><td class="entry"><a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228ad604e0047f7cb47662c5a1cf6999337c">DIRECTION_CW</a> enum value</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a3591e29a236e2935afd7f64ff6c22006">disableOutputs</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr> + <tr><td class="entry"><a class="el" href="classAccelStepper.html#a748665c3962e66fbc0e9373eb14c69c1">distanceToGo</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5ac3523e4cf6763ba518d16fec3708ef23">DRIVER</a> enum value</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr><td class="entry"><a class="el" href="classAccelStepper.html#aa279a50d30d0413f570c692cff071643">enableOutputs</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a62a305b52f749ff8c89138273fbb012d">FULL2WIRE</a> enum value</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr><td class="entry"><a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a0b8eea5cf0f8ce70b1959d2977ccc996">FULL3WIRE</a> enum value</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5adedd394a375190a3df8d4519c0d4dc2f">FULL4WIRE</a> enum value</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr><td class="entry"><a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5af5bb99ad9d67ad2d85f840e3abcfe068">FUNCTION</a> enum value</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a00c2387a5af43d8e97639699ab7a5c7f">HALF3WIRE</a> enum value</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr><td class="entry"><a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5aecc0900c55b777d2e885581b8c434b07">HALF4WIRE</a> enum value</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a3a60cc0b962f8ceb81ee1e6f36443ceb">isRunning</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr><td class="entry"><a class="el" href="classAccelStepper.html#a6123a1dfb4495d8bd2646288eae60d7f">maxSpeed</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5">MotorInterfaceType</a> enum name</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr><td class="entry"><a class="el" href="classAccelStepper.html#a68942c66e78fb7f7b5f0cdade6eb7f06">move</a>(long relative)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#ace236ede35f87c63d18da25810ec9736">moveTo</a>(long absolute)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr><td class="entry"><a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">runSpeed</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr><td class="entry"><a class="el" href="classAccelStepper.html#a9270d20336e76ac1fd5bcd5b9c34f301">runSpeedToPosition</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a176c5d2e4c2f21e9e92b12e39a6f0e67">runToNewPosition</a>(long position)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr><td class="entry"><a class="el" href="classAccelStepper.html#a344f58fef8cc34ac5aa75ba4b665d21c">runToPosition</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#adfb19e3cd2a028a1fe78131787604fd1">setAcceleration</a>(float acceleration)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr><td class="entry"><a class="el" href="classAccelStepper.html#a9d917f014317fb9d3b5dc14e66f6c689">setCurrentPosition</a>(long position)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a56a81c5f00d02ca19646718e88e974c0">setEnablePin</a>(uint8_t enablePin=0xff)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr><td class="entry"><a class="el" href="classAccelStepper.html#abee8d466229b87accba33d6ec929c18f">setMaxSpeed</a>(float speed)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#af4d3818e691dad5dc518308796ccf154">setMinPulseWidth</a>(unsigned int minWidth)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr><td class="entry"><a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins</a>(uint8_t mask)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#ac62cae590c2f9c303519a3a1c4adc8ab">setPinsInverted</a>(bool directionInvert=false, bool stepInvert=false, bool enableInvert=false)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr><td class="entry"><a class="el" href="classAccelStepper.html#a38298ac2dd852fb22259f6c4bbe08c94">setPinsInverted</a>(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#ae79c49ad69d5ccc9da0ee691fa4ca235">setSpeed</a>(float speed)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr><td class="entry"><a class="el" href="classAccelStepper.html#a4f0989d0ae264e7eadfe1fa720769fb6">speed</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step</a>(long step)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr> + <tr><td class="entry"><a class="el" href="classAccelStepper.html#aa2913db789e6fa05756579ff82fe6e7e">step0</a>(long step)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a63ef416bc039da539294e84a41e7d7dc">step1</a>(long step)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr> + <tr><td class="entry"><a class="el" href="classAccelStepper.html#a674e48a6bf99e7ad1f013c1e4414565a">step2</a>(long step)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#ad73c61aade2e10243dfb02aefa7ab8fd">step3</a>(long step)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr> + <tr><td class="entry"><a class="el" href="classAccelStepper.html#a8910bd9218a54dfb7e2372a6d0bcca0c">step4</a>(long step)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a4b0faf1ebc0c584ab606c0c0f66986b0">step6</a>(long step)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr> + <tr><td class="entry"><a class="el" href="classAccelStepper.html#aa909c6c3fcd3ea4b3ee1aa8b4d0f7e87">step8</a>(long step)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#af8abc9ede47286fa33b518e0bf297c6a">stepBackward</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr><td class="entry"><a class="el" href="classAccelStepper.html#af4908b53e1821f0a6d2dab509257b3e6">stepForward</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a638817b85aed9d5cd15c76a76c00aced">stop</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr><td class="entry"><a class="el" href="classAccelStepper.html#a96685e0945b7cf75d5959da679cd911e">targetPosition</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr> + <tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a89c4c8de0c983e7a59de6a959481aff1">~AccelStepper</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr> +</table></div><!-- contents --> +<!-- start footer part --> +<hr class="footer"/><address class="footer"><small> +Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 +</small></address> +</body> +</html> diff --git a/Arduino/libraries/AccelStepper/extras/doc/classAccelStepper.html b/Arduino/libraries/AccelStepper/extras/doc/classAccelStepper.html new file mode 100644 index 0000000..fec3900 --- /dev/null +++ b/Arduino/libraries/AccelStepper/extras/doc/classAccelStepper.html @@ -0,0 +1,1466 @@ +<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> +<html xmlns="http://www.w3.org/1999/xhtml"> +<head> +<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/> +<meta http-equiv="X-UA-Compatible" content="IE=9"/> +<meta name="generator" content="Doxygen 1.9.1"/> +<meta name="viewport" content="width=device-width, initial-scale=1"/> +<title>AccelStepper: AccelStepper Class Reference</title> +<link href="tabs.css" rel="stylesheet" type="text/css"/> +<script type="text/javascript" src="jquery.js"></script> +<script type="text/javascript" src="dynsections.js"></script> +<link href="doxygen.css" rel="stylesheet" type="text/css" /> +</head> +<body> +<div id="top"><!-- do not remove this div, it is closed by doxygen! --> +<div id="titlearea"> +<table cellspacing="0" cellpadding="0"> + <tbody> + <tr style="height: 56px;"> + <td id="projectalign" style="padding-left: 0.5em;"> + <div id="projectname">AccelStepper + </div> + </td> + </tr> + </tbody> +</table> +</div> +<!-- end header part --> +<!-- Generated by Doxygen 1.9.1 --> +<script type="text/javascript" src="menudata.js"></script> +<script type="text/javascript" src="menu.js"></script> +<script type="text/javascript"> +/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */ +$(function() { + initMenu('',false,false,'search.php','Search'); +}); +/* @license-end */</script> +<div id="main-nav"></div> +</div><!-- top --> +<div class="header"> + <div class="summary"> +<a href="#pub-types">Public Types</a> | +<a href="#pub-methods">Public Member Functions</a> | +<a href="#pro-types">Protected Types</a> | +<a href="#pro-methods">Protected Member Functions</a> | +<a href="#pro-attribs">Protected Attributes</a> | +<a href="classAccelStepper-members.html">List of all members</a> </div> + <div class="headertitle"> +<div class="title">AccelStepper Class Reference</div> </div> +</div><!--header--> +<div class="contents"> + +<p>Support for stepper motors with acceleration etc. + <a href="classAccelStepper.html#details">More...</a></p> + +<p><code>#include <<a class="el" href="AccelStepper_8h_source.html">AccelStepper.h</a>></code></p> +<table class="memberdecls"> +<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a> +Public Types</h2></td></tr> +<tr class="memitem:a73bdecf1273d98d8c5fbcb764cabeea5"><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5">MotorInterfaceType</a> { <br /> +  <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5af5bb99ad9d67ad2d85f840e3abcfe068">FUNCTION</a> = 0 +, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5ac3523e4cf6763ba518d16fec3708ef23">DRIVER</a> = 1 +, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a62a305b52f749ff8c89138273fbb012d">FULL2WIRE</a> = 2 +, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a0b8eea5cf0f8ce70b1959d2977ccc996">FULL3WIRE</a> = 3 +, <br /> +  <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5adedd394a375190a3df8d4519c0d4dc2f">FULL4WIRE</a> = 4 +, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a00c2387a5af43d8e97639699ab7a5c7f">HALF3WIRE</a> = 6 +, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5aecc0900c55b777d2e885581b8c434b07">HALF4WIRE</a> = 8 +<br /> + }</td></tr> +<tr class="memdesc:a73bdecf1273d98d8c5fbcb764cabeea5"><td class="mdescLeft"> </td><td class="mdescRight">Symbolic names for number of pins. Use this in the pins argument the <a class="el" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc.">AccelStepper</a> constructor to provide a symbolic name for the number of pins to use. <a href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5">More...</a><br /></td></tr> +<tr class="separator:a73bdecf1273d98d8c5fbcb764cabeea5"><td class="memSeparator" colspan="2"> </td></tr> +</table><table class="memberdecls"> +<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a> +Public Member Functions</h2></td></tr> +<tr class="memitem:a3bc75bd6571b98a6177838ca81ac39ab"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a3bc75bd6571b98a6177838ca81ac39ab">AccelStepper</a> (uint8_t interface=<a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5adedd394a375190a3df8d4519c0d4dc2f">AccelStepper::FULL4WIRE</a>, uint8_t pin1=2, uint8_t pin2=3, uint8_t pin3=4, uint8_t pin4=5, bool enable=true)</td></tr> +<tr class="separator:a3bc75bd6571b98a6177838ca81ac39ab"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:afa3061ce813303a8f2fa206ee8d012bd"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#afa3061ce813303a8f2fa206ee8d012bd">AccelStepper</a> (void(*forward)(), void(*backward)())</td></tr> +<tr class="separator:afa3061ce813303a8f2fa206ee8d012bd"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:ace236ede35f87c63d18da25810ec9736"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#ace236ede35f87c63d18da25810ec9736">moveTo</a> (long absolute)</td></tr> +<tr class="separator:ace236ede35f87c63d18da25810ec9736"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a68942c66e78fb7f7b5f0cdade6eb7f06"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a68942c66e78fb7f7b5f0cdade6eb7f06">move</a> (long relative)</td></tr> +<tr class="separator:a68942c66e78fb7f7b5f0cdade6eb7f06"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a608b2395b64ac15451d16d0371fe13ce"><td class="memItemLeft" align="right" valign="top">boolean </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run</a> ()</td></tr> +<tr class="separator:a608b2395b64ac15451d16d0371fe13ce"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:aa4a6bdf99f698284faaeb5542b0b7514"><td class="memItemLeft" align="right" valign="top">boolean </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">runSpeed</a> ()</td></tr> +<tr class="separator:aa4a6bdf99f698284faaeb5542b0b7514"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:abee8d466229b87accba33d6ec929c18f"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#abee8d466229b87accba33d6ec929c18f">setMaxSpeed</a> (float <a class="el" href="classAccelStepper.html#a4f0989d0ae264e7eadfe1fa720769fb6">speed</a>)</td></tr> +<tr class="separator:abee8d466229b87accba33d6ec929c18f"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a6123a1dfb4495d8bd2646288eae60d7f"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a6123a1dfb4495d8bd2646288eae60d7f">maxSpeed</a> ()</td></tr> +<tr class="separator:a6123a1dfb4495d8bd2646288eae60d7f"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:adfb19e3cd2a028a1fe78131787604fd1"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#adfb19e3cd2a028a1fe78131787604fd1">setAcceleration</a> (float <a class="el" href="classAccelStepper.html#a8b76f1ae6a49d2c2887b9fea30b8d84f">acceleration</a>)</td></tr> +<tr class="separator:adfb19e3cd2a028a1fe78131787604fd1"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a8b76f1ae6a49d2c2887b9fea30b8d84f"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a8b76f1ae6a49d2c2887b9fea30b8d84f">acceleration</a> ()</td></tr> +<tr class="separator:a8b76f1ae6a49d2c2887b9fea30b8d84f"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:ae79c49ad69d5ccc9da0ee691fa4ca235"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#ae79c49ad69d5ccc9da0ee691fa4ca235">setSpeed</a> (float <a class="el" href="classAccelStepper.html#a4f0989d0ae264e7eadfe1fa720769fb6">speed</a>)</td></tr> +<tr class="separator:ae79c49ad69d5ccc9da0ee691fa4ca235"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a4f0989d0ae264e7eadfe1fa720769fb6"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a4f0989d0ae264e7eadfe1fa720769fb6">speed</a> ()</td></tr> +<tr class="separator:a4f0989d0ae264e7eadfe1fa720769fb6"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a748665c3962e66fbc0e9373eb14c69c1"><td class="memItemLeft" align="right" valign="top">long </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a748665c3962e66fbc0e9373eb14c69c1">distanceToGo</a> ()</td></tr> +<tr class="separator:a748665c3962e66fbc0e9373eb14c69c1"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a96685e0945b7cf75d5959da679cd911e"><td class="memItemLeft" align="right" valign="top">long </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a96685e0945b7cf75d5959da679cd911e">targetPosition</a> ()</td></tr> +<tr class="separator:a96685e0945b7cf75d5959da679cd911e"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a5dce13ab2a1b02b8f443318886bf6fc5"><td class="memItemLeft" align="right" valign="top">long </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a5dce13ab2a1b02b8f443318886bf6fc5">currentPosition</a> ()</td></tr> +<tr class="separator:a5dce13ab2a1b02b8f443318886bf6fc5"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a9d917f014317fb9d3b5dc14e66f6c689"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a9d917f014317fb9d3b5dc14e66f6c689">setCurrentPosition</a> (long position)</td></tr> +<tr class="separator:a9d917f014317fb9d3b5dc14e66f6c689"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a344f58fef8cc34ac5aa75ba4b665d21c"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a344f58fef8cc34ac5aa75ba4b665d21c">runToPosition</a> ()</td></tr> +<tr class="separator:a344f58fef8cc34ac5aa75ba4b665d21c"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a9270d20336e76ac1fd5bcd5b9c34f301"><td class="memItemLeft" align="right" valign="top">boolean </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a9270d20336e76ac1fd5bcd5b9c34f301">runSpeedToPosition</a> ()</td></tr> +<tr class="separator:a9270d20336e76ac1fd5bcd5b9c34f301"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a176c5d2e4c2f21e9e92b12e39a6f0e67"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a176c5d2e4c2f21e9e92b12e39a6f0e67">runToNewPosition</a> (long position)</td></tr> +<tr class="separator:a176c5d2e4c2f21e9e92b12e39a6f0e67"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a638817b85aed9d5cd15c76a76c00aced"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a638817b85aed9d5cd15c76a76c00aced">stop</a> ()</td></tr> +<tr class="separator:a638817b85aed9d5cd15c76a76c00aced"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a3591e29a236e2935afd7f64ff6c22006"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a3591e29a236e2935afd7f64ff6c22006">disableOutputs</a> ()</td></tr> +<tr class="separator:a3591e29a236e2935afd7f64ff6c22006"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:aa279a50d30d0413f570c692cff071643"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#aa279a50d30d0413f570c692cff071643">enableOutputs</a> ()</td></tr> +<tr class="separator:aa279a50d30d0413f570c692cff071643"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:af4d3818e691dad5dc518308796ccf154"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#af4d3818e691dad5dc518308796ccf154">setMinPulseWidth</a> (unsigned int minWidth)</td></tr> +<tr class="separator:af4d3818e691dad5dc518308796ccf154"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a56a81c5f00d02ca19646718e88e974c0"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a56a81c5f00d02ca19646718e88e974c0">setEnablePin</a> (uint8_t enablePin=0xff)</td></tr> +<tr class="separator:a56a81c5f00d02ca19646718e88e974c0"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:ac62cae590c2f9c303519a3a1c4adc8ab"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#ac62cae590c2f9c303519a3a1c4adc8ab">setPinsInverted</a> (bool directionInvert=false, bool stepInvert=false, bool enableInvert=false)</td></tr> +<tr class="separator:ac62cae590c2f9c303519a3a1c4adc8ab"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a38298ac2dd852fb22259f6c4bbe08c94"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a38298ac2dd852fb22259f6c4bbe08c94">setPinsInverted</a> (bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert)</td></tr> +<tr class="separator:a38298ac2dd852fb22259f6c4bbe08c94"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a3a60cc0b962f8ceb81ee1e6f36443ceb"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a3a60cc0b962f8ceb81ee1e6f36443ceb">isRunning</a> ()</td></tr> +<tr class="separator:a3a60cc0b962f8ceb81ee1e6f36443ceb"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a89c4c8de0c983e7a59de6a959481aff1"><td class="memItemLeft" align="right" valign="top"><a id="a89c4c8de0c983e7a59de6a959481aff1"></a> +virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a89c4c8de0c983e7a59de6a959481aff1">~AccelStepper</a> ()</td></tr> +<tr class="memdesc:a89c4c8de0c983e7a59de6a959481aff1"><td class="mdescLeft"> </td><td class="mdescRight">Virtual destructor to prevent warnings during delete. <br /></td></tr> +<tr class="separator:a89c4c8de0c983e7a59de6a959481aff1"><td class="memSeparator" colspan="2"> </td></tr> +</table><table class="memberdecls"> +<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-types"></a> +Protected Types</h2></td></tr> +<tr class="memitem:a7468f91a925c689c3ba250f8d074d228"><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228">Direction</a> { <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228a6959a4549f734bd771d418f995ba4fb4">DIRECTION_CCW</a> = 0 +, <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228ad604e0047f7cb47662c5a1cf6999337c">DIRECTION_CW</a> = 1 + }</td></tr> +<tr class="memdesc:a7468f91a925c689c3ba250f8d074d228"><td class="mdescLeft"> </td><td class="mdescRight">Direction indicator Symbolic names for the direction the motor is turning. <a href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228">More...</a><br /></td></tr> +<tr class="separator:a7468f91a925c689c3ba250f8d074d228"><td class="memSeparator" colspan="2"> </td></tr> +</table><table class="memberdecls"> +<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a> +Protected Member Functions</h2></td></tr> +<tr class="memitem:aab5944f43f869675958939c421bd9a01"><td class="memItemLeft" align="right" valign="top">virtual unsigned long </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#aab5944f43f869675958939c421bd9a01">computeNewSpeed</a> ()</td></tr> +<tr class="separator:aab5944f43f869675958939c421bd9a01"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:af3c2516b6ce7c1ecbc2004107bb2a9ce"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins</a> (uint8_t mask)</td></tr> +<tr class="separator:af3c2516b6ce7c1ecbc2004107bb2a9ce"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a8a419121702399d8ac66df4cc47481f4"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step</a> (long step)</td></tr> +<tr class="separator:a8a419121702399d8ac66df4cc47481f4"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:af4908b53e1821f0a6d2dab509257b3e6"><td class="memItemLeft" align="right" valign="top">long </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#af4908b53e1821f0a6d2dab509257b3e6">stepForward</a> ()</td></tr> +<tr class="separator:af4908b53e1821f0a6d2dab509257b3e6"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:af8abc9ede47286fa33b518e0bf297c6a"><td class="memItemLeft" align="right" valign="top">long </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#af8abc9ede47286fa33b518e0bf297c6a">stepBackward</a> ()</td></tr> +<tr class="separator:af8abc9ede47286fa33b518e0bf297c6a"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:aa2913db789e6fa05756579ff82fe6e7e"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#aa2913db789e6fa05756579ff82fe6e7e">step0</a> (long <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step</a>)</td></tr> +<tr class="separator:aa2913db789e6fa05756579ff82fe6e7e"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a63ef416bc039da539294e84a41e7d7dc"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a63ef416bc039da539294e84a41e7d7dc">step1</a> (long <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step</a>)</td></tr> +<tr class="separator:a63ef416bc039da539294e84a41e7d7dc"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a674e48a6bf99e7ad1f013c1e4414565a"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a674e48a6bf99e7ad1f013c1e4414565a">step2</a> (long <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step</a>)</td></tr> +<tr class="separator:a674e48a6bf99e7ad1f013c1e4414565a"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:ad73c61aade2e10243dfb02aefa7ab8fd"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#ad73c61aade2e10243dfb02aefa7ab8fd">step3</a> (long <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step</a>)</td></tr> +<tr class="separator:ad73c61aade2e10243dfb02aefa7ab8fd"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a8910bd9218a54dfb7e2372a6d0bcca0c"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a8910bd9218a54dfb7e2372a6d0bcca0c">step4</a> (long <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step</a>)</td></tr> +<tr class="separator:a8910bd9218a54dfb7e2372a6d0bcca0c"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a4b0faf1ebc0c584ab606c0c0f66986b0"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a4b0faf1ebc0c584ab606c0c0f66986b0">step6</a> (long <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step</a>)</td></tr> +<tr class="separator:a4b0faf1ebc0c584ab606c0c0f66986b0"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:aa909c6c3fcd3ea4b3ee1aa8b4d0f7e87"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#aa909c6c3fcd3ea4b3ee1aa8b4d0f7e87">step8</a> (long <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step</a>)</td></tr> +<tr class="separator:aa909c6c3fcd3ea4b3ee1aa8b4d0f7e87"><td class="memSeparator" colspan="2"> </td></tr> +</table><table class="memberdecls"> +<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a> +Protected Attributes</h2></td></tr> +<tr class="memitem:a35162cdf8ed9a98f98984c177d5ade58"><td class="memItemLeft" align="right" valign="top">boolean </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a35162cdf8ed9a98f98984c177d5ade58">_direction</a></td></tr> +<tr class="separator:a35162cdf8ed9a98f98984c177d5ade58"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:a744fa74c2e181e75509a34b17c02e984"><td class="memItemLeft" align="right" valign="top">unsigned long </td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a744fa74c2e181e75509a34b17c02e984">_stepInterval</a></td></tr> +<tr class="separator:a744fa74c2e181e75509a34b17c02e984"><td class="memSeparator" colspan="2"> </td></tr> +</table> +<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2> +<div class="textblock"><p>Support for stepper motors with acceleration etc. </p> +<p>This defines a single 2 or 4 pin stepper motor, or stepper moter with fdriver chip, with optional acceleration, deceleration, absolute positioning commands etc. Multiple simultaneous steppers are supported, all moving at different speeds and accelerations.</p> +<dl class="section user"><dt>Operation</dt><dd>This module operates by computing a step time in microseconds. The step time is recomputed after each step and after speed and acceleration parameters are changed by the caller. The time of each step is recorded in microseconds. The <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a> function steps the motor once if a new step is due. The <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a> function must be called frequently until the motor is in the desired position, after which time <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a> will do nothing.</dd></dl> +<dl class="section user"><dt>Positioning</dt><dd>Positions are specified by a signed long integer. At construction time, the current position of the motor is consider to be 0. Positive positions are clockwise from the initial position; negative positions are anticlockwise. The current position can be altered for instance after initialization positioning.</dd></dl> +<dl class="section user"><dt>Caveats</dt><dd>This is an open loop controller: If the motor stalls or is oversped, <a class="el" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc.">AccelStepper</a> will not have a correct idea of where the motor really is (since there is no feedback of the motor's real position. We only know where we <em>think</em> it is, relative to the initial starting point).</dd></dl> +<dl class="section user"><dt>Performance</dt><dd>The fastest motor speed that can be reliably supported is about 4000 steps per second at a clock frequency of 16 MHz on Arduino such as Uno etc. Faster processors can support faster stepping speeds. However, any speed less than that down to very slow speeds (much less than one per second) are also supported, provided the <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a> function is called frequently enough to step the motor whenever required for the speed set. Calling <a class="el" href="classAccelStepper.html#adfb19e3cd2a028a1fe78131787604fd1">setAcceleration()</a> is expensive, since it requires a square root to be calculated.</dd></dl> +<p>Gregor Christandl reports that with an Arduino Due and a simple test program, he measured 43163 steps per second using <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">runSpeed()</a>, and 16214 steps per second using <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a>; </p> +</div><h2 class="groupheader">Member Enumeration Documentation</h2> +<a id="a7468f91a925c689c3ba250f8d074d228"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a7468f91a925c689c3ba250f8d074d228">◆ </a></span>Direction</h2> + +<div class="memitem"> +<div class="memproto"> +<table class="mlabels"> + <tr> + <td class="mlabels-left"> + <table class="memname"> + <tr> + <td class="memname">enum <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228">AccelStepper::Direction</a></td> + </tr> + </table> + </td> + <td class="mlabels-right"> +<span class="mlabels"><span class="mlabel">protected</span></span> </td> + </tr> +</table> +</div><div class="memdoc"> + +<p>Direction indicator Symbolic names for the direction the motor is turning. </p> +<table class="fieldtable"> +<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a7468f91a925c689c3ba250f8d074d228a6959a4549f734bd771d418f995ba4fb4"></a>DIRECTION_CCW </td><td class="fielddoc"><p>Counter-Clockwise. </p> +</td></tr> +<tr><td class="fieldname"><a id="a7468f91a925c689c3ba250f8d074d228ad604e0047f7cb47662c5a1cf6999337c"></a>DIRECTION_CW </td><td class="fielddoc"><p>Clockwise. </p> +</td></tr> +</table> + +</div> +</div> +<a id="a73bdecf1273d98d8c5fbcb764cabeea5"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a73bdecf1273d98d8c5fbcb764cabeea5">◆ </a></span>MotorInterfaceType</h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">enum <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5">AccelStepper::MotorInterfaceType</a></td> + </tr> + </table> +</div><div class="memdoc"> + +<p>Symbolic names for number of pins. Use this in the pins argument the <a class="el" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc.">AccelStepper</a> constructor to provide a symbolic name for the number of pins to use. </p> +<table class="fieldtable"> +<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a73bdecf1273d98d8c5fbcb764cabeea5af5bb99ad9d67ad2d85f840e3abcfe068"></a>FUNCTION </td><td class="fielddoc"><p>Use the functional interface, implementing your own driver functions (internal use only) </p> +</td></tr> +<tr><td class="fieldname"><a id="a73bdecf1273d98d8c5fbcb764cabeea5ac3523e4cf6763ba518d16fec3708ef23"></a>DRIVER </td><td class="fielddoc"><p>Stepper Driver, 2 driver pins required. </p> +</td></tr> +<tr><td class="fieldname"><a id="a73bdecf1273d98d8c5fbcb764cabeea5a62a305b52f749ff8c89138273fbb012d"></a>FULL2WIRE </td><td class="fielddoc"><p>2 wire stepper, 2 motor pins required </p> +</td></tr> +<tr><td class="fieldname"><a id="a73bdecf1273d98d8c5fbcb764cabeea5a0b8eea5cf0f8ce70b1959d2977ccc996"></a>FULL3WIRE </td><td class="fielddoc"><p>3 wire stepper, such as HDD spindle, 3 motor pins required </p> +</td></tr> +<tr><td class="fieldname"><a id="a73bdecf1273d98d8c5fbcb764cabeea5adedd394a375190a3df8d4519c0d4dc2f"></a>FULL4WIRE </td><td class="fielddoc"><p>4 wire full stepper, 4 motor pins required </p> +</td></tr> +<tr><td class="fieldname"><a id="a73bdecf1273d98d8c5fbcb764cabeea5a00c2387a5af43d8e97639699ab7a5c7f"></a>HALF3WIRE </td><td class="fielddoc"><p>3 wire half stepper, such as HDD spindle, 3 motor pins required </p> +</td></tr> +<tr><td class="fieldname"><a id="a73bdecf1273d98d8c5fbcb764cabeea5aecc0900c55b777d2e885581b8c434b07"></a>HALF4WIRE </td><td class="fielddoc"><p>4 wire half stepper, 4 motor pins required </p> +</td></tr> +</table> + +</div> +</div> +<h2 class="groupheader">Constructor & Destructor Documentation</h2> +<a id="a3bc75bd6571b98a6177838ca81ac39ab"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a3bc75bd6571b98a6177838ca81ac39ab">◆ </a></span>AccelStepper() <span class="overload">[1/2]</span></h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">AccelStepper::AccelStepper </td> + <td>(</td> + <td class="paramtype">uint8_t </td> + <td class="paramname"><em>interface</em> = <code><a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5adedd394a375190a3df8d4519c0d4dc2f">AccelStepper::FULL4WIRE</a></code>, </td> + </tr> + <tr> + <td class="paramkey"></td> + <td></td> + <td class="paramtype">uint8_t </td> + <td class="paramname"><em>pin1</em> = <code>2</code>, </td> + </tr> + <tr> + <td class="paramkey"></td> + <td></td> + <td class="paramtype">uint8_t </td> + <td class="paramname"><em>pin2</em> = <code>3</code>, </td> + </tr> + <tr> + <td class="paramkey"></td> + <td></td> + <td class="paramtype">uint8_t </td> + <td class="paramname"><em>pin3</em> = <code>4</code>, </td> + </tr> + <tr> + <td class="paramkey"></td> + <td></td> + <td class="paramtype">uint8_t </td> + <td class="paramname"><em>pin4</em> = <code>5</code>, </td> + </tr> + <tr> + <td class="paramkey"></td> + <td></td> + <td class="paramtype">bool </td> + <td class="paramname"><em>enable</em> = <code>true</code> </td> + </tr> + <tr> + <td></td> + <td>)</td> + <td></td><td></td> + </tr> + </table> +</div><div class="memdoc"> +<p>Constructor. You can have multiple simultaneous steppers, all moving at different speeds and accelerations, provided you call their <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a> functions at frequent enough intervals. Current Position is set to 0, target position is set to 0. MaxSpeed and Acceleration default to 1.0. The motor pins will be initialised to OUTPUT mode during the constructor by a call to <a class="el" href="classAccelStepper.html#aa279a50d30d0413f570c692cff071643">enableOutputs()</a>. </p><dl class="params"><dt>Parameters</dt><dd> + <table class="params"> + <tr><td class="paramdir">[in]</td><td class="paramname">interface</td><td>Number of pins to interface to. Integer values are supported, but it is preferred to use the <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5">MotorInterfaceType</a> symbolic names. <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5ac3523e4cf6763ba518d16fec3708ef23" title="Stepper Driver, 2 driver pins required.">AccelStepper::DRIVER</a> (1) means a stepper driver (with Step and Direction pins). If an enable line is also needed, call <a class="el" href="classAccelStepper.html#a56a81c5f00d02ca19646718e88e974c0">setEnablePin()</a> after construction. You may also invert the pins using <a class="el" href="classAccelStepper.html#ac62cae590c2f9c303519a3a1c4adc8ab">setPinsInverted()</a>. Caution: DRIVER implements a blocking delay of minPulseWidth microseconds (default 1us) for each step. You can change this with <a class="el" href="classAccelStepper.html#af4d3818e691dad5dc518308796ccf154">setMinPulseWidth()</a>. <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a62a305b52f749ff8c89138273fbb012d" title="2 wire stepper, 2 motor pins required">AccelStepper::FULL2WIRE</a> (2) means a 2 wire stepper (2 pins required). <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a0b8eea5cf0f8ce70b1959d2977ccc996" title="3 wire stepper, such as HDD spindle, 3 motor pins required">AccelStepper::FULL3WIRE</a> (3) means a 3 wire stepper, such as HDD spindle (3 pins required). <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5adedd394a375190a3df8d4519c0d4dc2f" title="4 wire full stepper, 4 motor pins required">AccelStepper::FULL4WIRE</a> (4) means a 4 wire stepper (4 pins required). <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a00c2387a5af43d8e97639699ab7a5c7f" title="3 wire half stepper, such as HDD spindle, 3 motor pins required">AccelStepper::HALF3WIRE</a> (6) means a 3 wire half stepper, such as HDD spindle (3 pins required) <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5aecc0900c55b777d2e885581b8c434b07" title="4 wire half stepper, 4 motor pins required">AccelStepper::HALF4WIRE</a> (8) means a 4 wire half stepper (4 pins required) Defaults to <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5adedd394a375190a3df8d4519c0d4dc2f" title="4 wire full stepper, 4 motor pins required">AccelStepper::FULL4WIRE</a> (4) pins. </td></tr> + <tr><td class="paramdir">[in]</td><td class="paramname">pin1</td><td>Arduino digital pin number for motor pin 1. Defaults to pin 2. For a <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5ac3523e4cf6763ba518d16fec3708ef23" title="Stepper Driver, 2 driver pins required.">AccelStepper::DRIVER</a> (interface==1), this is the Step input to the driver. Low to high transition means to step) </td></tr> + <tr><td class="paramdir">[in]</td><td class="paramname">pin2</td><td>Arduino digital pin number for motor pin 2. Defaults to pin 3. For a <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5ac3523e4cf6763ba518d16fec3708ef23" title="Stepper Driver, 2 driver pins required.">AccelStepper::DRIVER</a> (interface==1), this is the Direction input the driver. High means forward. </td></tr> + <tr><td class="paramdir">[in]</td><td class="paramname">pin3</td><td>Arduino digital pin number for motor pin 3. Defaults to pin 4. </td></tr> + <tr><td class="paramdir">[in]</td><td class="paramname">pin4</td><td>Arduino digital pin number for motor pin 4. Defaults to pin 5. </td></tr> + <tr><td class="paramdir">[in]</td><td class="paramname">enable</td><td>If this is true (the default), <a class="el" href="classAccelStepper.html#aa279a50d30d0413f570c692cff071643">enableOutputs()</a> will be called to enable the output pins at construction time. </td></tr> + </table> + </dd> +</dl> + +<p class="reference">References <a class="el" href="classAccelStepper.html#a35162cdf8ed9a98f98984c177d5ade58">_direction</a>, <a class="el" href="classAccelStepper.html#a744fa74c2e181e75509a34b17c02e984">_stepInterval</a>, <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228a6959a4549f734bd771d418f995ba4fb4">DIRECTION_CCW</a>, <a class="el" href="classAccelStepper.html#aa279a50d30d0413f570c692cff071643">enableOutputs()</a>, <a class="el" href="classAccelStepper.html#adfb19e3cd2a028a1fe78131787604fd1">setAcceleration()</a>, and <a class="el" href="classAccelStepper.html#abee8d466229b87accba33d6ec929c18f">setMaxSpeed()</a>.</p> + +</div> +</div> +<a id="afa3061ce813303a8f2fa206ee8d012bd"></a> +<h2 class="memtitle"><span class="permalink"><a href="#afa3061ce813303a8f2fa206ee8d012bd">◆ </a></span>AccelStepper() <span class="overload">[2/2]</span></h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">AccelStepper::AccelStepper </td> + <td>(</td> + <td class="paramtype">void(*)() </td> + <td class="paramname"><em>forward</em>, </td> + </tr> + <tr> + <td class="paramkey"></td> + <td></td> + <td class="paramtype">void(*)() </td> + <td class="paramname"><em>backward</em> </td> + </tr> + <tr> + <td></td> + <td>)</td> + <td></td><td></td> + </tr> + </table> +</div><div class="memdoc"> +<p>Alternate Constructor which will call your own functions for forward and backward steps. You can have multiple simultaneous steppers, all moving at different speeds and accelerations, provided you call their <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a> functions at frequent enough intervals. Current Position is set to 0, target position is set to 0. MaxSpeed and Acceleration default to 1.0. Any motor initialization should happen before hand, no pins are used or initialized. </p><dl class="params"><dt>Parameters</dt><dd> + <table class="params"> + <tr><td class="paramdir">[in]</td><td class="paramname">forward</td><td>void-returning procedure that will make a forward step </td></tr> + <tr><td class="paramdir">[in]</td><td class="paramname">backward</td><td>void-returning procedure that will make a backward step </td></tr> + </table> + </dd> +</dl> + +<p class="reference">References <a class="el" href="classAccelStepper.html#a35162cdf8ed9a98f98984c177d5ade58">_direction</a>, <a class="el" href="classAccelStepper.html#a744fa74c2e181e75509a34b17c02e984">_stepInterval</a>, <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228a6959a4549f734bd771d418f995ba4fb4">DIRECTION_CCW</a>, <a class="el" href="classAccelStepper.html#adfb19e3cd2a028a1fe78131787604fd1">setAcceleration()</a>, and <a class="el" href="classAccelStepper.html#abee8d466229b87accba33d6ec929c18f">setMaxSpeed()</a>.</p> + +</div> +</div> +<h2 class="groupheader">Member Function Documentation</h2> +<a id="a8b76f1ae6a49d2c2887b9fea30b8d84f"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a8b76f1ae6a49d2c2887b9fea30b8d84f">◆ </a></span>acceleration()</h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">float AccelStepper::acceleration </td> + <td>(</td> + <td class="paramname"></td><td>)</td> + <td></td> + </tr> + </table> +</div><div class="memdoc"> +<p>Returns the acceleration/deceleration rate configured for this stepper that was previously set by <a class="el" href="classAccelStepper.html#adfb19e3cd2a028a1fe78131787604fd1">setAcceleration()</a>; </p><dl class="section return"><dt>Returns</dt><dd>The currently configured acceleration/deceleration </dd></dl> + +<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#adfb19e3cd2a028a1fe78131787604fd1">setAcceleration()</a>.</p> + +</div> +</div> +<a id="aab5944f43f869675958939c421bd9a01"></a> +<h2 class="memtitle"><span class="permalink"><a href="#aab5944f43f869675958939c421bd9a01">◆ </a></span>computeNewSpeed()</h2> + +<div class="memitem"> +<div class="memproto"> +<table class="mlabels"> + <tr> + <td class="mlabels-left"> + <table class="memname"> + <tr> + <td class="memname">unsigned long AccelStepper::computeNewSpeed </td> + <td>(</td> + <td class="paramname"></td><td>)</td> + <td></td> + </tr> + </table> + </td> + <td class="mlabels-right"> +<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span> </td> + </tr> +</table> +</div><div class="memdoc"> +<p>Forces the library to compute a new instantaneous speed and set that as the current speed. It is called by the library: </p><ul> +<li>after each step </li> +<li>after change to maxSpeed through <a class="el" href="classAccelStepper.html#abee8d466229b87accba33d6ec929c18f">setMaxSpeed()</a> </li> +<li>after change to acceleration through <a class="el" href="classAccelStepper.html#adfb19e3cd2a028a1fe78131787604fd1">setAcceleration()</a> </li> +<li>after change to target position (relative or absolute) through <a class="el" href="classAccelStepper.html#a68942c66e78fb7f7b5f0cdade6eb7f06">move()</a> or <a class="el" href="classAccelStepper.html#ace236ede35f87c63d18da25810ec9736">moveTo()</a> <dl class="section return"><dt>Returns</dt><dd>the new step interval </dd></dl> +</li> +</ul> + +<p class="reference">References <a class="el" href="classAccelStepper.html#a35162cdf8ed9a98f98984c177d5ade58">_direction</a>, <a class="el" href="classAccelStepper.html#a744fa74c2e181e75509a34b17c02e984">_stepInterval</a>, <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228a6959a4549f734bd771d418f995ba4fb4">DIRECTION_CCW</a>, <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228ad604e0047f7cb47662c5a1cf6999337c">DIRECTION_CW</a>, and <a class="el" href="classAccelStepper.html#a748665c3962e66fbc0e9373eb14c69c1">distanceToGo()</a>.</p> + +<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#ace236ede35f87c63d18da25810ec9736">moveTo()</a>, <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a>, <a class="el" href="classAccelStepper.html#adfb19e3cd2a028a1fe78131787604fd1">setAcceleration()</a>, and <a class="el" href="classAccelStepper.html#abee8d466229b87accba33d6ec929c18f">setMaxSpeed()</a>.</p> + +</div> +</div> +<a id="a5dce13ab2a1b02b8f443318886bf6fc5"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a5dce13ab2a1b02b8f443318886bf6fc5">◆ </a></span>currentPosition()</h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">long AccelStepper::currentPosition </td> + <td>(</td> + <td class="paramname"></td><td>)</td> + <td></td> + </tr> + </table> +</div><div class="memdoc"> +<p>The current motor position. </p><dl class="section return"><dt>Returns</dt><dd>the current motor position in steps. Positive is clockwise from the 0 position. </dd></dl> + +<p class="reference">Referenced by <a class="el" href="classMultiStepper.html#a291fec32a79390b6eb00296cffac49ee">MultiStepper::moveTo()</a>.</p> + +</div> +</div> +<a id="a3591e29a236e2935afd7f64ff6c22006"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a3591e29a236e2935afd7f64ff6c22006">◆ </a></span>disableOutputs()</h2> + +<div class="memitem"> +<div class="memproto"> +<table class="mlabels"> + <tr> + <td class="mlabels-left"> + <table class="memname"> + <tr> + <td class="memname">void AccelStepper::disableOutputs </td> + <td>(</td> + <td class="paramname"></td><td>)</td> + <td></td> + </tr> + </table> + </td> + <td class="mlabels-right"> +<span class="mlabels"><span class="mlabel">virtual</span></span> </td> + </tr> +</table> +</div><div class="memdoc"> +<p>Disable motor pin outputs by setting them all LOW Depending on the design of your electronics this may turn off the power to the motor coils, saving power. This is useful to support Arduino low power modes: disable the outputs during sleep and then reenable with <a class="el" href="classAccelStepper.html#aa279a50d30d0413f570c692cff071643">enableOutputs()</a> before stepping again. If the enable Pin is defined, sets it to OUTPUT mode and clears the pin to disabled. </p> + +<p class="reference">References <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>.</p> + +</div> +</div> +<a id="a748665c3962e66fbc0e9373eb14c69c1"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a748665c3962e66fbc0e9373eb14c69c1">◆ </a></span>distanceToGo()</h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">long AccelStepper::distanceToGo </td> + <td>(</td> + <td class="paramname"></td><td>)</td> + <td></td> + </tr> + </table> +</div><div class="memdoc"> +<p>The distance from the current position to the target position. </p><dl class="section return"><dt>Returns</dt><dd>the distance from the current position to the target position in steps. Positive is clockwise from the current position. </dd></dl> + +<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#aab5944f43f869675958939c421bd9a01">computeNewSpeed()</a>, and <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a>.</p> + +</div> +</div> +<a id="aa279a50d30d0413f570c692cff071643"></a> +<h2 class="memtitle"><span class="permalink"><a href="#aa279a50d30d0413f570c692cff071643">◆ </a></span>enableOutputs()</h2> + +<div class="memitem"> +<div class="memproto"> +<table class="mlabels"> + <tr> + <td class="mlabels-left"> + <table class="memname"> + <tr> + <td class="memname">void AccelStepper::enableOutputs </td> + <td>(</td> + <td class="paramname"></td><td>)</td> + <td></td> + </tr> + </table> + </td> + <td class="mlabels-right"> +<span class="mlabels"><span class="mlabel">virtual</span></span> </td> + </tr> +</table> +</div><div class="memdoc"> +<p>Enable motor pin outputs by setting the motor pins to OUTPUT mode. Called automatically by the constructor. If the enable Pin is defined, sets it to OUTPUT mode and sets the pin to enabled. </p> + +<p class="reference">References <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a0b8eea5cf0f8ce70b1959d2977ccc996">FULL3WIRE</a>, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5adedd394a375190a3df8d4519c0d4dc2f">FULL4WIRE</a>, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a00c2387a5af43d8e97639699ab7a5c7f">HALF3WIRE</a>, and <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5aecc0900c55b777d2e885581b8c434b07">HALF4WIRE</a>.</p> + +<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a3bc75bd6571b98a6177838ca81ac39ab">AccelStepper()</a>.</p> + +</div> +</div> +<a id="a3a60cc0b962f8ceb81ee1e6f36443ceb"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a3a60cc0b962f8ceb81ee1e6f36443ceb">◆ </a></span>isRunning()</h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">bool AccelStepper::isRunning </td> + <td>(</td> + <td class="paramname"></td><td>)</td> + <td></td> + </tr> + </table> +</div><div class="memdoc"> +<p>Checks to see if the motor is currently running to a target </p><dl class="section return"><dt>Returns</dt><dd>true if the speed is not zero or not at the target position </dd></dl> + +</div> +</div> +<a id="a6123a1dfb4495d8bd2646288eae60d7f"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a6123a1dfb4495d8bd2646288eae60d7f">◆ </a></span>maxSpeed()</h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">float AccelStepper::maxSpeed </td> + <td>(</td> + <td class="paramname"></td><td>)</td> + <td></td> + </tr> + </table> +</div><div class="memdoc"> +<p>Returns the maximum speed configured for this stepper that was previously set by <a class="el" href="classAccelStepper.html#abee8d466229b87accba33d6ec929c18f">setMaxSpeed()</a>; </p><dl class="section return"><dt>Returns</dt><dd>The currently configured maximum speed </dd></dl> + +<p class="reference">Referenced by <a class="el" href="classMultiStepper.html#a291fec32a79390b6eb00296cffac49ee">MultiStepper::moveTo()</a>.</p> + +</div> +</div> +<a id="a68942c66e78fb7f7b5f0cdade6eb7f06"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a68942c66e78fb7f7b5f0cdade6eb7f06">◆ </a></span>move()</h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">void AccelStepper::move </td> + <td>(</td> + <td class="paramtype">long </td> + <td class="paramname"><em>relative</em></td><td>)</td> + <td></td> + </tr> + </table> +</div><div class="memdoc"> +<p>Set the target position relative to the current position. </p><dl class="params"><dt>Parameters</dt><dd> + <table class="params"> + <tr><td class="paramdir">[in]</td><td class="paramname">relative</td><td>The desired position relative to the current position. Negative is anticlockwise from the current position. </td></tr> + </table> + </dd> +</dl> + +<p class="reference">References <a class="el" href="classAccelStepper.html#ace236ede35f87c63d18da25810ec9736">moveTo()</a>.</p> + +<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a638817b85aed9d5cd15c76a76c00aced">stop()</a>.</p> + +</div> +</div> +<a id="ace236ede35f87c63d18da25810ec9736"></a> +<h2 class="memtitle"><span class="permalink"><a href="#ace236ede35f87c63d18da25810ec9736">◆ </a></span>moveTo()</h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">void AccelStepper::moveTo </td> + <td>(</td> + <td class="paramtype">long </td> + <td class="paramname"><em>absolute</em></td><td>)</td> + <td></td> + </tr> + </table> +</div><div class="memdoc"> +<p>Set the target position. The <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a> function will try to move the motor (at most one step per call) from the current position to the target position set by the most recent call to this function. Caution: <a class="el" href="classAccelStepper.html#ace236ede35f87c63d18da25810ec9736">moveTo()</a> also recalculates the speed for the next step. If you are trying to use constant speed movements, you should call <a class="el" href="classAccelStepper.html#ae79c49ad69d5ccc9da0ee691fa4ca235">setSpeed()</a> after calling <a class="el" href="classAccelStepper.html#ace236ede35f87c63d18da25810ec9736">moveTo()</a>. </p><dl class="params"><dt>Parameters</dt><dd> + <table class="params"> + <tr><td class="paramdir">[in]</td><td class="paramname">absolute</td><td>The desired absolute position. Negative is anticlockwise from the 0 position. </td></tr> + </table> + </dd> +</dl> + +<p class="reference">References <a class="el" href="classAccelStepper.html#aab5944f43f869675958939c421bd9a01">computeNewSpeed()</a>.</p> + +<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a68942c66e78fb7f7b5f0cdade6eb7f06">move()</a>, <a class="el" href="classMultiStepper.html#a291fec32a79390b6eb00296cffac49ee">MultiStepper::moveTo()</a>, and <a class="el" href="classAccelStepper.html#a176c5d2e4c2f21e9e92b12e39a6f0e67">runToNewPosition()</a>.</p> + +</div> +</div> +<a id="a608b2395b64ac15451d16d0371fe13ce"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a608b2395b64ac15451d16d0371fe13ce">◆ </a></span>run()</h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">boolean AccelStepper::run </td> + <td>(</td> + <td class="paramname"></td><td>)</td> + <td></td> + </tr> + </table> +</div><div class="memdoc"> +<p>Poll the motor and step it if a step is due, implementing accelerations and decelerations to achieve the target position. You must call this as frequently as possible, but at least once per minimum step time interval, preferably in your main loop. Note that each call to <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a> will make at most one step, and then only when a step is due, based on the current speed and the time since the last step. </p><dl class="section return"><dt>Returns</dt><dd>true if the motor is still running to the target position. </dd></dl> + +<p class="reference">References <a class="el" href="classAccelStepper.html#aab5944f43f869675958939c421bd9a01">computeNewSpeed()</a>, <a class="el" href="classAccelStepper.html#a748665c3962e66fbc0e9373eb14c69c1">distanceToGo()</a>, and <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">runSpeed()</a>.</p> + +<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a344f58fef8cc34ac5aa75ba4b665d21c">runToPosition()</a>.</p> + +</div> +</div> +<a id="aa4a6bdf99f698284faaeb5542b0b7514"></a> +<h2 class="memtitle"><span class="permalink"><a href="#aa4a6bdf99f698284faaeb5542b0b7514">◆ </a></span>runSpeed()</h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">boolean AccelStepper::runSpeed </td> + <td>(</td> + <td class="paramname"></td><td>)</td> + <td></td> + </tr> + </table> +</div><div class="memdoc"> +<p>Poll the motor and step it if a step is due, implementing a constant speed as set by the most recent call to <a class="el" href="classAccelStepper.html#ae79c49ad69d5ccc9da0ee691fa4ca235">setSpeed()</a>. You must call this as frequently as possible, but at least once per step interval, </p><dl class="section return"><dt>Returns</dt><dd>true if the motor was stepped. </dd></dl> + +<p class="reference">References <a class="el" href="classAccelStepper.html#a35162cdf8ed9a98f98984c177d5ade58">_direction</a>, <a class="el" href="classAccelStepper.html#a744fa74c2e181e75509a34b17c02e984">_stepInterval</a>, <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228ad604e0047f7cb47662c5a1cf6999337c">DIRECTION_CW</a>, and <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p> + +<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a>, <a class="el" href="classMultiStepper.html#a26c2f53b1e7ddf5d5dfb333f6fb7fb92">MultiStepper::run()</a>, and <a class="el" href="classAccelStepper.html#a9270d20336e76ac1fd5bcd5b9c34f301">runSpeedToPosition()</a>.</p> + +</div> +</div> +<a id="a9270d20336e76ac1fd5bcd5b9c34f301"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a9270d20336e76ac1fd5bcd5b9c34f301">◆ </a></span>runSpeedToPosition()</h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">boolean AccelStepper::runSpeedToPosition </td> + <td>(</td> + <td class="paramname"></td><td>)</td> + <td></td> + </tr> + </table> +</div><div class="memdoc"> +<p>Executes <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">runSpeed()</a> unless the targetPosition is reached. This function needs to be called often just like <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">runSpeed()</a> or <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a>. Will step the motor if a step is required at the currently selected speed unless the target position has been reached. Does not implement accelerations. </p><dl class="section return"><dt>Returns</dt><dd>true if it stepped </dd></dl> + +<p class="reference">References <a class="el" href="classAccelStepper.html#a35162cdf8ed9a98f98984c177d5ade58">_direction</a>, <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228a6959a4549f734bd771d418f995ba4fb4">DIRECTION_CCW</a>, <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228ad604e0047f7cb47662c5a1cf6999337c">DIRECTION_CW</a>, and <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">runSpeed()</a>.</p> + +</div> +</div> +<a id="a176c5d2e4c2f21e9e92b12e39a6f0e67"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a176c5d2e4c2f21e9e92b12e39a6f0e67">◆ </a></span>runToNewPosition()</h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">void AccelStepper::runToNewPosition </td> + <td>(</td> + <td class="paramtype">long </td> + <td class="paramname"><em>position</em></td><td>)</td> + <td></td> + </tr> + </table> +</div><div class="memdoc"> +<p>Moves the motor (with acceleration/deceleration) to the new target position and blocks until it is at position. Dont use this in event loops, since it blocks. </p><dl class="params"><dt>Parameters</dt><dd> + <table class="params"> + <tr><td class="paramdir">[in]</td><td class="paramname">position</td><td>The new target position. </td></tr> + </table> + </dd> +</dl> + +<p class="reference">References <a class="el" href="classAccelStepper.html#ace236ede35f87c63d18da25810ec9736">moveTo()</a>, and <a class="el" href="classAccelStepper.html#a344f58fef8cc34ac5aa75ba4b665d21c">runToPosition()</a>.</p> + +</div> +</div> +<a id="a344f58fef8cc34ac5aa75ba4b665d21c"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a344f58fef8cc34ac5aa75ba4b665d21c">◆ </a></span>runToPosition()</h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">void AccelStepper::runToPosition </td> + <td>(</td> + <td class="paramname"></td><td>)</td> + <td></td> + </tr> + </table> +</div><div class="memdoc"> +<p>Moves the motor (with acceleration/deceleration) to the target position and blocks until it is at position. Dont use this in event loops, since it blocks. </p> + +<p class="reference">References <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a>.</p> + +<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a176c5d2e4c2f21e9e92b12e39a6f0e67">runToNewPosition()</a>.</p> + +</div> +</div> +<a id="adfb19e3cd2a028a1fe78131787604fd1"></a> +<h2 class="memtitle"><span class="permalink"><a href="#adfb19e3cd2a028a1fe78131787604fd1">◆ </a></span>setAcceleration()</h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">void AccelStepper::setAcceleration </td> + <td>(</td> + <td class="paramtype">float </td> + <td class="paramname"><em>acceleration</em></td><td>)</td> + <td></td> + </tr> + </table> +</div><div class="memdoc"> +<p>Sets the acceleration/deceleration rate. </p><dl class="params"><dt>Parameters</dt><dd> + <table class="params"> + <tr><td class="paramdir">[in]</td><td class="paramname">acceleration</td><td>The desired acceleration in steps per second per second. Must be > 0.0. This is an expensive call since it requires a square root to be calculated. Dont call more ofthen than needed </td></tr> + </table> + </dd> +</dl> + +<p class="reference">References <a class="el" href="classAccelStepper.html#a8b76f1ae6a49d2c2887b9fea30b8d84f">acceleration()</a>, and <a class="el" href="classAccelStepper.html#aab5944f43f869675958939c421bd9a01">computeNewSpeed()</a>.</p> + +<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a3bc75bd6571b98a6177838ca81ac39ab">AccelStepper()</a>.</p> + +</div> +</div> +<a id="a9d917f014317fb9d3b5dc14e66f6c689"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a9d917f014317fb9d3b5dc14e66f6c689">◆ </a></span>setCurrentPosition()</h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">void AccelStepper::setCurrentPosition </td> + <td>(</td> + <td class="paramtype">long </td> + <td class="paramname"><em>position</em></td><td>)</td> + <td></td> + </tr> + </table> +</div><div class="memdoc"> +<p>Resets the current position of the motor, so that wherever the motor happens to be right now is considered to be the new 0 position. Useful for setting a zero position on a stepper after an initial hardware positioning move. Has the side effect of setting the current motor speed to 0. </p><dl class="params"><dt>Parameters</dt><dd> + <table class="params"> + <tr><td class="paramdir">[in]</td><td class="paramname">position</td><td>The position in steps of wherever the motor happens to be right now. </td></tr> + </table> + </dd> +</dl> + +<p class="reference">References <a class="el" href="classAccelStepper.html#a744fa74c2e181e75509a34b17c02e984">_stepInterval</a>.</p> + +<p class="reference">Referenced by <a class="el" href="classMultiStepper.html#a26c2f53b1e7ddf5d5dfb333f6fb7fb92">MultiStepper::run()</a>.</p> + +</div> +</div> +<a id="a56a81c5f00d02ca19646718e88e974c0"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a56a81c5f00d02ca19646718e88e974c0">◆ </a></span>setEnablePin()</h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">void AccelStepper::setEnablePin </td> + <td>(</td> + <td class="paramtype">uint8_t </td> + <td class="paramname"><em>enablePin</em> = <code>0xff</code></td><td>)</td> + <td></td> + </tr> + </table> +</div><div class="memdoc"> +<p>Sets the enable pin number for stepper drivers. 0xFF indicates unused (default). Otherwise, if a pin is set, the pin will be turned on when <a class="el" href="classAccelStepper.html#aa279a50d30d0413f570c692cff071643">enableOutputs()</a> is called and switched off when <a class="el" href="classAccelStepper.html#a3591e29a236e2935afd7f64ff6c22006">disableOutputs()</a> is called. </p><dl class="params"><dt>Parameters</dt><dd> + <table class="params"> + <tr><td class="paramdir">[in]</td><td class="paramname">enablePin</td><td>Arduino digital pin number for motor enable </td></tr> + </table> + </dd> +</dl> +<dl class="section see"><dt>See also</dt><dd><a class="el" href="classAccelStepper.html#ac62cae590c2f9c303519a3a1c4adc8ab">setPinsInverted</a> </dd></dl> + +</div> +</div> +<a id="abee8d466229b87accba33d6ec929c18f"></a> +<h2 class="memtitle"><span class="permalink"><a href="#abee8d466229b87accba33d6ec929c18f">◆ </a></span>setMaxSpeed()</h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">void AccelStepper::setMaxSpeed </td> + <td>(</td> + <td class="paramtype">float </td> + <td class="paramname"><em>speed</em></td><td>)</td> + <td></td> + </tr> + </table> +</div><div class="memdoc"> +<p>Sets the maximum permitted speed. The <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a> function will accelerate up to the speed set by this function. Caution: the maximum speed achievable depends on your processor and clock speed. The default maxSpeed is 1.0 steps per second. </p><dl class="params"><dt>Parameters</dt><dd> + <table class="params"> + <tr><td class="paramdir">[in]</td><td class="paramname">speed</td><td>The desired maximum speed in steps per second. Must be > 0. Caution: Speeds that exceed the maximum speed supported by the processor may Result in non-linear accelerations and decelerations. </td></tr> + </table> + </dd> +</dl> + +<p class="reference">References <a class="el" href="classAccelStepper.html#aab5944f43f869675958939c421bd9a01">computeNewSpeed()</a>, and <a class="el" href="classAccelStepper.html#a4f0989d0ae264e7eadfe1fa720769fb6">speed()</a>.</p> + +<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a3bc75bd6571b98a6177838ca81ac39ab">AccelStepper()</a>.</p> + +</div> +</div> +<a id="af4d3818e691dad5dc518308796ccf154"></a> +<h2 class="memtitle"><span class="permalink"><a href="#af4d3818e691dad5dc518308796ccf154">◆ </a></span>setMinPulseWidth()</h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">void AccelStepper::setMinPulseWidth </td> + <td>(</td> + <td class="paramtype">unsigned int </td> + <td class="paramname"><em>minWidth</em></td><td>)</td> + <td></td> + </tr> + </table> +</div><div class="memdoc"> +<p>Sets the minimum pulse width allowed by the stepper driver. The minimum practical pulse width is approximately 20 microseconds. Times less than 20 microseconds will usually result in 20 microseconds or so. </p><dl class="params"><dt>Parameters</dt><dd> + <table class="params"> + <tr><td class="paramdir">[in]</td><td class="paramname">minWidth</td><td>The minimum pulse width in microseconds. <br /> + </td></tr> + </table> + </dd> +</dl> + +</div> +</div> +<a id="af3c2516b6ce7c1ecbc2004107bb2a9ce"></a> +<h2 class="memtitle"><span class="permalink"><a href="#af3c2516b6ce7c1ecbc2004107bb2a9ce">◆ </a></span>setOutputPins()</h2> + +<div class="memitem"> +<div class="memproto"> +<table class="mlabels"> + <tr> + <td class="mlabels-left"> + <table class="memname"> + <tr> + <td class="memname">void AccelStepper::setOutputPins </td> + <td>(</td> + <td class="paramtype">uint8_t </td> + <td class="paramname"><em>mask</em></td><td>)</td> + <td></td> + </tr> + </table> + </td> + <td class="mlabels-right"> +<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span> </td> + </tr> +</table> +</div><div class="memdoc"> +<p>Low level function to set the motor output pins bit 0 of the mask corresponds to _pin[0] bit 1 of the mask corresponds to _pin[1] You can override this to impment, for example serial chip output insted of using the output pins directly </p> + +<p class="reference">References <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a0b8eea5cf0f8ce70b1959d2977ccc996">FULL3WIRE</a>, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5adedd394a375190a3df8d4519c0d4dc2f">FULL4WIRE</a>, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a00c2387a5af43d8e97639699ab7a5c7f">HALF3WIRE</a>, and <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5aecc0900c55b777d2e885581b8c434b07">HALF4WIRE</a>.</p> + +<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a3591e29a236e2935afd7f64ff6c22006">disableOutputs()</a>, <a class="el" href="classAccelStepper.html#a63ef416bc039da539294e84a41e7d7dc">step1()</a>, <a class="el" href="classAccelStepper.html#a674e48a6bf99e7ad1f013c1e4414565a">step2()</a>, <a class="el" href="classAccelStepper.html#ad73c61aade2e10243dfb02aefa7ab8fd">step3()</a>, <a class="el" href="classAccelStepper.html#a8910bd9218a54dfb7e2372a6d0bcca0c">step4()</a>, <a class="el" href="classAccelStepper.html#a4b0faf1ebc0c584ab606c0c0f66986b0">step6()</a>, and <a class="el" href="classAccelStepper.html#aa909c6c3fcd3ea4b3ee1aa8b4d0f7e87">step8()</a>.</p> + +</div> +</div> +<a id="ac62cae590c2f9c303519a3a1c4adc8ab"></a> +<h2 class="memtitle"><span class="permalink"><a href="#ac62cae590c2f9c303519a3a1c4adc8ab">◆ </a></span>setPinsInverted() <span class="overload">[1/2]</span></h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">void AccelStepper::setPinsInverted </td> + <td>(</td> + <td class="paramtype">bool </td> + <td class="paramname"><em>directionInvert</em> = <code>false</code>, </td> + </tr> + <tr> + <td class="paramkey"></td> + <td></td> + <td class="paramtype">bool </td> + <td class="paramname"><em>stepInvert</em> = <code>false</code>, </td> + </tr> + <tr> + <td class="paramkey"></td> + <td></td> + <td class="paramtype">bool </td> + <td class="paramname"><em>enableInvert</em> = <code>false</code> </td> + </tr> + <tr> + <td></td> + <td>)</td> + <td></td><td></td> + </tr> + </table> +</div><div class="memdoc"> +<p>Sets the inversion for stepper driver pins </p><dl class="params"><dt>Parameters</dt><dd> + <table class="params"> + <tr><td class="paramdir">[in]</td><td class="paramname">directionInvert</td><td>True for inverted direction pin, false for non-inverted </td></tr> + <tr><td class="paramdir">[in]</td><td class="paramname">stepInvert</td><td>True for inverted step pin, false for non-inverted </td></tr> + <tr><td class="paramdir">[in]</td><td class="paramname">enableInvert</td><td>True for inverted enable pin, false (default) for non-inverted </td></tr> + </table> + </dd> +</dl> + +</div> +</div> +<a id="a38298ac2dd852fb22259f6c4bbe08c94"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a38298ac2dd852fb22259f6c4bbe08c94">◆ </a></span>setPinsInverted() <span class="overload">[2/2]</span></h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">void AccelStepper::setPinsInverted </td> + <td>(</td> + <td class="paramtype">bool </td> + <td class="paramname"><em>pin1Invert</em>, </td> + </tr> + <tr> + <td class="paramkey"></td> + <td></td> + <td class="paramtype">bool </td> + <td class="paramname"><em>pin2Invert</em>, </td> + </tr> + <tr> + <td class="paramkey"></td> + <td></td> + <td class="paramtype">bool </td> + <td class="paramname"><em>pin3Invert</em>, </td> + </tr> + <tr> + <td class="paramkey"></td> + <td></td> + <td class="paramtype">bool </td> + <td class="paramname"><em>pin4Invert</em>, </td> + </tr> + <tr> + <td class="paramkey"></td> + <td></td> + <td class="paramtype">bool </td> + <td class="paramname"><em>enableInvert</em> </td> + </tr> + <tr> + <td></td> + <td>)</td> + <td></td><td></td> + </tr> + </table> +</div><div class="memdoc"> +<p>Sets the inversion for 2, 3 and 4 wire stepper pins </p><dl class="params"><dt>Parameters</dt><dd> + <table class="params"> + <tr><td class="paramdir">[in]</td><td class="paramname">pin1Invert</td><td>True for inverted pin1, false for non-inverted </td></tr> + <tr><td class="paramdir">[in]</td><td class="paramname">pin2Invert</td><td>True for inverted pin2, false for non-inverted </td></tr> + <tr><td class="paramdir">[in]</td><td class="paramname">pin3Invert</td><td>True for inverted pin3, false for non-inverted </td></tr> + <tr><td class="paramdir">[in]</td><td class="paramname">pin4Invert</td><td>True for inverted pin4, false for non-inverted </td></tr> + <tr><td class="paramdir">[in]</td><td class="paramname">enableInvert</td><td>True for inverted enable pin, false (default) for non-inverted </td></tr> + </table> + </dd> +</dl> + +</div> +</div> +<a id="ae79c49ad69d5ccc9da0ee691fa4ca235"></a> +<h2 class="memtitle"><span class="permalink"><a href="#ae79c49ad69d5ccc9da0ee691fa4ca235">◆ </a></span>setSpeed()</h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">void AccelStepper::setSpeed </td> + <td>(</td> + <td class="paramtype">float </td> + <td class="paramname"><em>speed</em></td><td>)</td> + <td></td> + </tr> + </table> +</div><div class="memdoc"> +<p>Sets the desired constant speed for use with <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">runSpeed()</a>. </p><dl class="params"><dt>Parameters</dt><dd> + <table class="params"> + <tr><td class="paramdir">[in]</td><td class="paramname">speed</td><td>The desired constant speed in steps per second. Positive is clockwise. Speeds of more than 1000 steps per second are unreliable. Very slow speeds may be set (eg 0.00027777 for once per hour, approximately. Speed accuracy depends on the Arduino crystal. Jitter depends on how frequently you call the <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">runSpeed()</a> function. The speed will be limited by the current value of <a class="el" href="classAccelStepper.html#abee8d466229b87accba33d6ec929c18f">setMaxSpeed()</a> </td></tr> + </table> + </dd> +</dl> + +<p class="reference">References <a class="el" href="classAccelStepper.html#a35162cdf8ed9a98f98984c177d5ade58">_direction</a>, <a class="el" href="classAccelStepper.html#a744fa74c2e181e75509a34b17c02e984">_stepInterval</a>, <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228a6959a4549f734bd771d418f995ba4fb4">DIRECTION_CCW</a>, <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228ad604e0047f7cb47662c5a1cf6999337c">DIRECTION_CW</a>, and <a class="el" href="classAccelStepper.html#a4f0989d0ae264e7eadfe1fa720769fb6">speed()</a>.</p> + +<p class="reference">Referenced by <a class="el" href="classMultiStepper.html#a291fec32a79390b6eb00296cffac49ee">MultiStepper::moveTo()</a>.</p> + +</div> +</div> +<a id="a4f0989d0ae264e7eadfe1fa720769fb6"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a4f0989d0ae264e7eadfe1fa720769fb6">◆ </a></span>speed()</h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">float AccelStepper::speed </td> + <td>(</td> + <td class="paramname"></td><td>)</td> + <td></td> + </tr> + </table> +</div><div class="memdoc"> +<p>The most recently set speed. </p><dl class="section return"><dt>Returns</dt><dd>the most recent speed in steps per second </dd></dl> + +<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#abee8d466229b87accba33d6ec929c18f">setMaxSpeed()</a>, and <a class="el" href="classAccelStepper.html#ae79c49ad69d5ccc9da0ee691fa4ca235">setSpeed()</a>.</p> + +</div> +</div> +<a id="a8a419121702399d8ac66df4cc47481f4"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a8a419121702399d8ac66df4cc47481f4">◆ </a></span>step()</h2> + +<div class="memitem"> +<div class="memproto"> +<table class="mlabels"> + <tr> + <td class="mlabels-left"> + <table class="memname"> + <tr> + <td class="memname">void AccelStepper::step </td> + <td>(</td> + <td class="paramtype">long </td> + <td class="paramname"><em>step</em></td><td>)</td> + <td></td> + </tr> + </table> + </td> + <td class="mlabels-right"> +<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span> </td> + </tr> +</table> +</div><div class="memdoc"> +<p>Called to execute a step. Only called when a new step is required. Subclasses may override to implement new stepping interfaces. The default calls <a class="el" href="classAccelStepper.html#a63ef416bc039da539294e84a41e7d7dc">step1()</a>, <a class="el" href="classAccelStepper.html#a674e48a6bf99e7ad1f013c1e4414565a">step2()</a>, <a class="el" href="classAccelStepper.html#a8910bd9218a54dfb7e2372a6d0bcca0c">step4()</a> or <a class="el" href="classAccelStepper.html#aa909c6c3fcd3ea4b3ee1aa8b4d0f7e87">step8()</a> depending on the number of pins defined for the stepper. </p><dl class="params"><dt>Parameters</dt><dd> + <table class="params"> + <tr><td class="paramdir">[in]</td><td class="paramname">step</td><td>The current step phase number (0 to 7) </td></tr> + </table> + </dd> +</dl> + +<p class="reference">References <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5ac3523e4cf6763ba518d16fec3708ef23">DRIVER</a>, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a62a305b52f749ff8c89138273fbb012d">FULL2WIRE</a>, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a0b8eea5cf0f8ce70b1959d2977ccc996">FULL3WIRE</a>, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5adedd394a375190a3df8d4519c0d4dc2f">FULL4WIRE</a>, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5af5bb99ad9d67ad2d85f840e3abcfe068">FUNCTION</a>, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a00c2387a5af43d8e97639699ab7a5c7f">HALF3WIRE</a>, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5aecc0900c55b777d2e885581b8c434b07">HALF4WIRE</a>, <a class="el" href="classAccelStepper.html#aa2913db789e6fa05756579ff82fe6e7e">step0()</a>, <a class="el" href="classAccelStepper.html#a63ef416bc039da539294e84a41e7d7dc">step1()</a>, <a class="el" href="classAccelStepper.html#a674e48a6bf99e7ad1f013c1e4414565a">step2()</a>, <a class="el" href="classAccelStepper.html#ad73c61aade2e10243dfb02aefa7ab8fd">step3()</a>, <a class="el" href="classAccelStepper.html#a8910bd9218a54dfb7e2372a6d0bcca0c">step4()</a>, <a class="el" href="classAccelStepper.html#a4b0faf1ebc0c584ab606c0c0f66986b0">step6()</a>, and <a class="el" href="classAccelStepper.html#aa909c6c3fcd3ea4b3ee1aa8b4d0f7e87">step8()</a>.</p> + +<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">runSpeed()</a>, <a class="el" href="classAccelStepper.html#aa2913db789e6fa05756579ff82fe6e7e">step0()</a>, <a class="el" href="classAccelStepper.html#a63ef416bc039da539294e84a41e7d7dc">step1()</a>, <a class="el" href="classAccelStepper.html#a674e48a6bf99e7ad1f013c1e4414565a">step2()</a>, <a class="el" href="classAccelStepper.html#ad73c61aade2e10243dfb02aefa7ab8fd">step3()</a>, <a class="el" href="classAccelStepper.html#a8910bd9218a54dfb7e2372a6d0bcca0c">step4()</a>, <a class="el" href="classAccelStepper.html#a4b0faf1ebc0c584ab606c0c0f66986b0">step6()</a>, <a class="el" href="classAccelStepper.html#aa909c6c3fcd3ea4b3ee1aa8b4d0f7e87">step8()</a>, <a class="el" href="classAccelStepper.html#af8abc9ede47286fa33b518e0bf297c6a">stepBackward()</a>, and <a class="el" href="classAccelStepper.html#af4908b53e1821f0a6d2dab509257b3e6">stepForward()</a>.</p> + +</div> +</div> +<a id="aa2913db789e6fa05756579ff82fe6e7e"></a> +<h2 class="memtitle"><span class="permalink"><a href="#aa2913db789e6fa05756579ff82fe6e7e">◆ </a></span>step0()</h2> + +<div class="memitem"> +<div class="memproto"> +<table class="mlabels"> + <tr> + <td class="mlabels-left"> + <table class="memname"> + <tr> + <td class="memname">void AccelStepper::step0 </td> + <td>(</td> + <td class="paramtype">long </td> + <td class="paramname"><em>step</em></td><td>)</td> + <td></td> + </tr> + </table> + </td> + <td class="mlabels-right"> +<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span> </td> + </tr> +</table> +</div><div class="memdoc"> +<p>Called to execute a step using stepper functions (pins = 0) Only called when a new step is required. Calls _forward() or _backward() to perform the step </p><dl class="params"><dt>Parameters</dt><dd> + <table class="params"> + <tr><td class="paramdir">[in]</td><td class="paramname">step</td><td>The current step phase number (0 to 7) </td></tr> + </table> + </dd> +</dl> + +<p class="reference">References <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p> + +<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p> + +</div> +</div> +<a id="a63ef416bc039da539294e84a41e7d7dc"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a63ef416bc039da539294e84a41e7d7dc">◆ </a></span>step1()</h2> + +<div class="memitem"> +<div class="memproto"> +<table class="mlabels"> + <tr> + <td class="mlabels-left"> + <table class="memname"> + <tr> + <td class="memname">void AccelStepper::step1 </td> + <td>(</td> + <td class="paramtype">long </td> + <td class="paramname"><em>step</em></td><td>)</td> + <td></td> + </tr> + </table> + </td> + <td class="mlabels-right"> +<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span> </td> + </tr> +</table> +</div><div class="memdoc"> +<p>Called to execute a step on a stepper driver (ie where pins == 1). Only called when a new step is required. Subclasses may override to implement new stepping interfaces. The default sets or clears the outputs of Step pin1 to step, and sets the output of _pin2 to the desired direction. The Step pin (_pin1) is pulsed for 1 microsecond which is the minimum STEP pulse width for the 3967 driver. </p><dl class="params"><dt>Parameters</dt><dd> + <table class="params"> + <tr><td class="paramdir">[in]</td><td class="paramname">step</td><td>The current step phase number (0 to 7) </td></tr> + </table> + </dd> +</dl> + +<p class="reference">References <a class="el" href="classAccelStepper.html#a35162cdf8ed9a98f98984c177d5ade58">_direction</a>, <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>, and <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p> + +<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p> + +</div> +</div> +<a id="a674e48a6bf99e7ad1f013c1e4414565a"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a674e48a6bf99e7ad1f013c1e4414565a">◆ </a></span>step2()</h2> + +<div class="memitem"> +<div class="memproto"> +<table class="mlabels"> + <tr> + <td class="mlabels-left"> + <table class="memname"> + <tr> + <td class="memname">void AccelStepper::step2 </td> + <td>(</td> + <td class="paramtype">long </td> + <td class="paramname"><em>step</em></td><td>)</td> + <td></td> + </tr> + </table> + </td> + <td class="mlabels-right"> +<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span> </td> + </tr> +</table> +</div><div class="memdoc"> +<p>Called to execute a step on a 2 pin motor. Only called when a new step is required. Subclasses may override to implement new stepping interfaces. The default sets or clears the outputs of pin1 and pin2 </p><dl class="params"><dt>Parameters</dt><dd> + <table class="params"> + <tr><td class="paramdir">[in]</td><td class="paramname">step</td><td>The current step phase number (0 to 7) </td></tr> + </table> + </dd> +</dl> + +<p class="reference">References <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>, and <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p> + +<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p> + +</div> +</div> +<a id="ad73c61aade2e10243dfb02aefa7ab8fd"></a> +<h2 class="memtitle"><span class="permalink"><a href="#ad73c61aade2e10243dfb02aefa7ab8fd">◆ </a></span>step3()</h2> + +<div class="memitem"> +<div class="memproto"> +<table class="mlabels"> + <tr> + <td class="mlabels-left"> + <table class="memname"> + <tr> + <td class="memname">void AccelStepper::step3 </td> + <td>(</td> + <td class="paramtype">long </td> + <td class="paramname"><em>step</em></td><td>)</td> + <td></td> + </tr> + </table> + </td> + <td class="mlabels-right"> +<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span> </td> + </tr> +</table> +</div><div class="memdoc"> +<p>Called to execute a step on a 3 pin motor, such as HDD spindle. Only called when a new step is required. Subclasses may override to implement new stepping interfaces. The default sets or clears the outputs of pin1, pin2, pin3 </p><dl class="params"><dt>Parameters</dt><dd> + <table class="params"> + <tr><td class="paramdir">[in]</td><td class="paramname">step</td><td>The current step phase number (0 to 7) </td></tr> + </table> + </dd> +</dl> + +<p class="reference">References <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>, and <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p> + +<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p> + +</div> +</div> +<a id="a8910bd9218a54dfb7e2372a6d0bcca0c"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a8910bd9218a54dfb7e2372a6d0bcca0c">◆ </a></span>step4()</h2> + +<div class="memitem"> +<div class="memproto"> +<table class="mlabels"> + <tr> + <td class="mlabels-left"> + <table class="memname"> + <tr> + <td class="memname">void AccelStepper::step4 </td> + <td>(</td> + <td class="paramtype">long </td> + <td class="paramname"><em>step</em></td><td>)</td> + <td></td> + </tr> + </table> + </td> + <td class="mlabels-right"> +<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span> </td> + </tr> +</table> +</div><div class="memdoc"> +<p>Called to execute a step on a 4 pin motor. Only called when a new step is required. Subclasses may override to implement new stepping interfaces. The default sets or clears the outputs of pin1, pin2, pin3, pin4. </p><dl class="params"><dt>Parameters</dt><dd> + <table class="params"> + <tr><td class="paramdir">[in]</td><td class="paramname">step</td><td>The current step phase number (0 to 7) </td></tr> + </table> + </dd> +</dl> + +<p class="reference">References <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>, and <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p> + +<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p> + +</div> +</div> +<a id="a4b0faf1ebc0c584ab606c0c0f66986b0"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a4b0faf1ebc0c584ab606c0c0f66986b0">◆ </a></span>step6()</h2> + +<div class="memitem"> +<div class="memproto"> +<table class="mlabels"> + <tr> + <td class="mlabels-left"> + <table class="memname"> + <tr> + <td class="memname">void AccelStepper::step6 </td> + <td>(</td> + <td class="paramtype">long </td> + <td class="paramname"><em>step</em></td><td>)</td> + <td></td> + </tr> + </table> + </td> + <td class="mlabels-right"> +<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span> </td> + </tr> +</table> +</div><div class="memdoc"> +<p>Called to execute a step on a 3 pin motor, such as HDD spindle. Only called when a new step is required. Subclasses may override to implement new stepping interfaces. The default sets or clears the outputs of pin1, pin2, pin3 </p><dl class="params"><dt>Parameters</dt><dd> + <table class="params"> + <tr><td class="paramdir">[in]</td><td class="paramname">step</td><td>The current step phase number (0 to 7) </td></tr> + </table> + </dd> +</dl> + +<p class="reference">References <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>, and <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p> + +<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p> + +</div> +</div> +<a id="aa909c6c3fcd3ea4b3ee1aa8b4d0f7e87"></a> +<h2 class="memtitle"><span class="permalink"><a href="#aa909c6c3fcd3ea4b3ee1aa8b4d0f7e87">◆ </a></span>step8()</h2> + +<div class="memitem"> +<div class="memproto"> +<table class="mlabels"> + <tr> + <td class="mlabels-left"> + <table class="memname"> + <tr> + <td class="memname">void AccelStepper::step8 </td> + <td>(</td> + <td class="paramtype">long </td> + <td class="paramname"><em>step</em></td><td>)</td> + <td></td> + </tr> + </table> + </td> + <td class="mlabels-right"> +<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span> </td> + </tr> +</table> +</div><div class="memdoc"> +<p>Called to execute a step on a 4 pin half-stepper motor. Only called when a new step is required. Subclasses may override to implement new stepping interfaces. The default sets or clears the outputs of pin1, pin2, pin3, pin4. </p><dl class="params"><dt>Parameters</dt><dd> + <table class="params"> + <tr><td class="paramdir">[in]</td><td class="paramname">step</td><td>The current step phase number (0 to 7) </td></tr> + </table> + </dd> +</dl> + +<p class="reference">References <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>, and <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p> + +<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p> + +</div> +</div> +<a id="af8abc9ede47286fa33b518e0bf297c6a"></a> +<h2 class="memtitle"><span class="permalink"><a href="#af8abc9ede47286fa33b518e0bf297c6a">◆ </a></span>stepBackward()</h2> + +<div class="memitem"> +<div class="memproto"> +<table class="mlabels"> + <tr> + <td class="mlabels-left"> + <table class="memname"> + <tr> + <td class="memname">long AccelStepper::stepBackward </td> + <td>(</td> + <td class="paramname"></td><td>)</td> + <td></td> + </tr> + </table> + </td> + <td class="mlabels-right"> +<span class="mlabels"><span class="mlabel">protected</span></span> </td> + </tr> +</table> +</div><div class="memdoc"> +<p>Called to execute a counter-clockwise(-) step. Only called when a new step is required. This decrements the _currentPos and calls <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a> </p><dl class="section return"><dt>Returns</dt><dd>the updated current position </dd></dl> + +<p class="reference">References <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p> + +</div> +</div> +<a id="af4908b53e1821f0a6d2dab509257b3e6"></a> +<h2 class="memtitle"><span class="permalink"><a href="#af4908b53e1821f0a6d2dab509257b3e6">◆ </a></span>stepForward()</h2> + +<div class="memitem"> +<div class="memproto"> +<table class="mlabels"> + <tr> + <td class="mlabels-left"> + <table class="memname"> + <tr> + <td class="memname">long AccelStepper::stepForward </td> + <td>(</td> + <td class="paramname"></td><td>)</td> + <td></td> + </tr> + </table> + </td> + <td class="mlabels-right"> +<span class="mlabels"><span class="mlabel">protected</span></span> </td> + </tr> +</table> +</div><div class="memdoc"> +<p>Called to execute a clockwise(+) step. Only called when a new step is required. This increments the _currentPos and calls <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a> </p><dl class="section return"><dt>Returns</dt><dd>the updated current position </dd></dl> + +<p class="reference">References <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p> + +</div> +</div> +<a id="a638817b85aed9d5cd15c76a76c00aced"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a638817b85aed9d5cd15c76a76c00aced">◆ </a></span>stop()</h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">void AccelStepper::stop </td> + <td>(</td> + <td class="paramname"></td><td>)</td> + <td></td> + </tr> + </table> +</div><div class="memdoc"> +<p>Sets a new target position that causes the stepper to stop as quickly as possible, using the current speed and acceleration parameters. </p> + +<p class="reference">References <a class="el" href="classAccelStepper.html#a68942c66e78fb7f7b5f0cdade6eb7f06">move()</a>.</p> + +</div> +</div> +<a id="a96685e0945b7cf75d5959da679cd911e"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a96685e0945b7cf75d5959da679cd911e">◆ </a></span>targetPosition()</h2> + +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">long AccelStepper::targetPosition </td> + <td>(</td> + <td class="paramname"></td><td>)</td> + <td></td> + </tr> + </table> +</div><div class="memdoc"> +<p>The most recently set target position. </p><dl class="section return"><dt>Returns</dt><dd>the target position in steps. Positive is clockwise from the 0 position. </dd></dl> + +</div> +</div> +<h2 class="groupheader">Member Data Documentation</h2> +<a id="a35162cdf8ed9a98f98984c177d5ade58"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a35162cdf8ed9a98f98984c177d5ade58">◆ </a></span>_direction</h2> + +<div class="memitem"> +<div class="memproto"> +<table class="mlabels"> + <tr> + <td class="mlabels-left"> + <table class="memname"> + <tr> + <td class="memname">boolean AccelStepper::_direction</td> + </tr> + </table> + </td> + <td class="mlabels-right"> +<span class="mlabels"><span class="mlabel">protected</span></span> </td> + </tr> +</table> +</div><div class="memdoc"> +<p>Current direction motor is spinning in Protected because some peoples subclasses need it to be so </p> + +<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a3bc75bd6571b98a6177838ca81ac39ab">AccelStepper()</a>, <a class="el" href="classAccelStepper.html#aab5944f43f869675958939c421bd9a01">computeNewSpeed()</a>, <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">runSpeed()</a>, <a class="el" href="classAccelStepper.html#a9270d20336e76ac1fd5bcd5b9c34f301">runSpeedToPosition()</a>, <a class="el" href="classAccelStepper.html#ae79c49ad69d5ccc9da0ee691fa4ca235">setSpeed()</a>, and <a class="el" href="classAccelStepper.html#a63ef416bc039da539294e84a41e7d7dc">step1()</a>.</p> + +</div> +</div> +<a id="a744fa74c2e181e75509a34b17c02e984"></a> +<h2 class="memtitle"><span class="permalink"><a href="#a744fa74c2e181e75509a34b17c02e984">◆ </a></span>_stepInterval</h2> + +<div class="memitem"> +<div class="memproto"> +<table class="mlabels"> + <tr> + <td class="mlabels-left"> + <table class="memname"> + <tr> + <td class="memname">unsigned long AccelStepper::_stepInterval</td> + </tr> + </table> + </td> + <td class="mlabels-right"> +<span class="mlabels"><span class="mlabel">protected</span></span> </td> + </tr> +</table> +</div><div class="memdoc"> +<p>The current interval between steps in microseconds. 0 means the motor is currently stopped with _speed == 0 </p> + +<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a3bc75bd6571b98a6177838ca81ac39ab">AccelStepper()</a>, <a class="el" href="classAccelStepper.html#aab5944f43f869675958939c421bd9a01">computeNewSpeed()</a>, <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">runSpeed()</a>, <a class="el" href="classAccelStepper.html#a9d917f014317fb9d3b5dc14e66f6c689">setCurrentPosition()</a>, and <a class="el" href="classAccelStepper.html#ae79c49ad69d5ccc9da0ee691fa4ca235">setSpeed()</a>.</p> + +</div> +</div> +<hr/>The documentation for this class was generated from the following files:<ul> +<li><a class="el" href="AccelStepper_8h_source.html">AccelStepper.h</a></li> +<li>AccelStepper.cpp</li> +</ul> +</div><!-- contents --> +<!-- start 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a/Arduino/libraries/AccelStepper/extras/doc/files.html b/Arduino/libraries/AccelStepper/extras/doc/files.html new file mode 100644 index 0000000..a468468 --- /dev/null +++ b/Arduino/libraries/AccelStepper/extras/doc/files.html @@ -0,0 +1,57 @@ +<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> +<html xmlns="http://www.w3.org/1999/xhtml"> +<head> +<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/> +<meta http-equiv="X-UA-Compatible" content="IE=9"/> +<meta name="generator" content="Doxygen 1.9.1"/> +<meta name="viewport" content="width=device-width, initial-scale=1"/> +<title>AccelStepper: File List</title> +<link href="tabs.css" rel="stylesheet" type="text/css"/> +<script type="text/javascript" src="jquery.js"></script> +<script type="text/javascript" src="dynsections.js"></script> +<link href="doxygen.css" rel="stylesheet" type="text/css" /> +</head> +<body> +<div id="top"><!-- do not remove this div, it is closed by doxygen! --> +<div id="titlearea"> +<table cellspacing="0" cellpadding="0"> + <tbody> + <tr style="height: 56px;"> + <td id="projectalign" style="padding-left: 0.5em;"> + <div id="projectname">AccelStepper + </div> + </td> + </tr> + </tbody> +</table> +</div> +<!-- end header part --> +<!-- Generated by Doxygen 1.9.1 --> +<script type="text/javascript" src="menudata.js"></script> +<script type="text/javascript" src="menu.js"></script> +<script type="text/javascript"> +/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */ +$(function() { + initMenu('',false,false,'search.php','Search'); +}); +/* @license-end */</script> +<div id="main-nav"></div> +</div><!-- top --> +<div class="header"> + <div class="headertitle"> +<div class="title">File List</div> </div> +</div><!--header--> +<div class="contents"> +<div class="textblock">Here is a list of all documented files with brief descriptions:</div><div class="directory"> +<table class="directory"> +<tr id="row_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="AccelStepper_8h_source.html"><span class="icondoc"></span></a><b>AccelStepper.h</b></td><td class="desc"></td></tr> +<tr id="row_1_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="MultiStepper_8h_source.html"><span class="icondoc"></span></a><b>MultiStepper.h</b></td><td class="desc"></td></tr> +</table> +</div><!-- directory --> +</div><!-- contents --> +<!-- start footer part --> +<hr class="footer"/><address class="footer"><small> +Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 +</small></address> +</body> +</html> diff --git a/Arduino/libraries/AccelStepper/extras/doc/functions.html b/Arduino/libraries/AccelStepper/extras/doc/functions.html new file mode 100644 index 0000000..3ecba0c --- /dev/null +++ b/Arduino/libraries/AccelStepper/extras/doc/functions.html @@ -0,0 +1,261 @@ +<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> +<html xmlns="http://www.w3.org/1999/xhtml"> +<head> +<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/> +<meta http-equiv="X-UA-Compatible" content="IE=9"/> +<meta name="generator" content="Doxygen 1.9.1"/> +<meta name="viewport" content="width=device-width, initial-scale=1"/> +<title>AccelStepper: Class Members</title> +<link href="tabs.css" rel="stylesheet" type="text/css"/> +<script type="text/javascript" src="jquery.js"></script> +<script type="text/javascript" src="dynsections.js"></script> +<link href="doxygen.css" rel="stylesheet" type="text/css" /> +</head> +<body> +<div id="top"><!-- do not remove this div, it is closed by doxygen! --> +<div id="titlearea"> +<table cellspacing="0" cellpadding="0"> + <tbody> + <tr style="height: 56px;"> + <td id="projectalign" style="padding-left: 0.5em;"> + <div id="projectname">AccelStepper + </div> + </td> + </tr> + </tbody> +</table> +</div> +<!-- end header part --> +<!-- Generated by Doxygen 1.9.1 --> +<script type="text/javascript" src="menudata.js"></script> +<script type="text/javascript" src="menu.js"></script> +<script type="text/javascript"> +/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */ +$(function() { + initMenu('',false,false,'search.php','Search'); +}); +/* @license-end */</script> +<div id="main-nav"></div> +</div><!-- top --> +<div class="contents"> +<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div> + +<h3><a id="index__5F"></a>- _ -</h3><ul> +<li>_direction +: <a class="el" href="classAccelStepper.html#a35162cdf8ed9a98f98984c177d5ade58">AccelStepper</a> +</li> +<li>_stepInterval +: <a class="el" href="classAccelStepper.html#a744fa74c2e181e75509a34b17c02e984">AccelStepper</a> +</li> +</ul> + + +<h3><a id="index_a"></a>- a -</h3><ul> +<li>acceleration() +: <a class="el" href="classAccelStepper.html#a8b76f1ae6a49d2c2887b9fea30b8d84f">AccelStepper</a> +</li> +<li>AccelStepper() +: <a class="el" href="classAccelStepper.html#a3bc75bd6571b98a6177838ca81ac39ab">AccelStepper</a> +</li> +<li>addStepper() +: <a class="el" href="classMultiStepper.html#a383d8486e17ad9de9f1bafcbd9aa52ee">MultiStepper</a> +</li> +</ul> + + +<h3><a id="index_c"></a>- c -</h3><ul> +<li>computeNewSpeed() +: <a class="el" href="classAccelStepper.html#aab5944f43f869675958939c421bd9a01">AccelStepper</a> +</li> +<li>currentPosition() +: <a class="el" href="classAccelStepper.html#a5dce13ab2a1b02b8f443318886bf6fc5">AccelStepper</a> +</li> +</ul> + + +<h3><a id="index_d"></a>- d -</h3><ul> +<li>Direction +: <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228">AccelStepper</a> +</li> +<li>DIRECTION_CCW +: <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228a6959a4549f734bd771d418f995ba4fb4">AccelStepper</a> +</li> +<li>DIRECTION_CW +: <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228ad604e0047f7cb47662c5a1cf6999337c">AccelStepper</a> +</li> +<li>disableOutputs() +: <a class="el" href="classAccelStepper.html#a3591e29a236e2935afd7f64ff6c22006">AccelStepper</a> +</li> +<li>distanceToGo() +: <a class="el" href="classAccelStepper.html#a748665c3962e66fbc0e9373eb14c69c1">AccelStepper</a> +</li> +<li>DRIVER +: <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5ac3523e4cf6763ba518d16fec3708ef23">AccelStepper</a> +</li> +</ul> + + +<h3><a id="index_e"></a>- e -</h3><ul> +<li>enableOutputs() +: <a class="el" href="classAccelStepper.html#aa279a50d30d0413f570c692cff071643">AccelStepper</a> +</li> +</ul> + + +<h3><a id="index_f"></a>- f -</h3><ul> +<li>FULL2WIRE +: <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a62a305b52f749ff8c89138273fbb012d">AccelStepper</a> +</li> +<li>FULL3WIRE +: <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a0b8eea5cf0f8ce70b1959d2977ccc996">AccelStepper</a> +</li> +<li>FULL4WIRE +: <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5adedd394a375190a3df8d4519c0d4dc2f">AccelStepper</a> +</li> +<li>FUNCTION +: <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5af5bb99ad9d67ad2d85f840e3abcfe068">AccelStepper</a> +</li> +</ul> + + +<h3><a id="index_h"></a>- h -</h3><ul> +<li>HALF3WIRE +: <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a00c2387a5af43d8e97639699ab7a5c7f">AccelStepper</a> +</li> +<li>HALF4WIRE +: <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5aecc0900c55b777d2e885581b8c434b07">AccelStepper</a> +</li> +</ul> + + +<h3><a id="index_i"></a>- i -</h3><ul> +<li>isRunning() +: <a class="el" href="classAccelStepper.html#a3a60cc0b962f8ceb81ee1e6f36443ceb">AccelStepper</a> +</li> +</ul> + + +<h3><a id="index_m"></a>- m -</h3><ul> +<li>maxSpeed() +: <a class="el" href="classAccelStepper.html#a6123a1dfb4495d8bd2646288eae60d7f">AccelStepper</a> +</li> +<li>MotorInterfaceType +: <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5">AccelStepper</a> +</li> +<li>move() +: <a class="el" href="classAccelStepper.html#a68942c66e78fb7f7b5f0cdade6eb7f06">AccelStepper</a> +</li> +<li>moveTo() +: <a class="el" href="classAccelStepper.html#ace236ede35f87c63d18da25810ec9736">AccelStepper</a> +, <a class="el" href="classMultiStepper.html#a291fec32a79390b6eb00296cffac49ee">MultiStepper</a> +</li> +<li>MultiStepper() +: <a class="el" href="classMultiStepper.html#a14c0c1c0f55e5bbdc4971730e32304c2">MultiStepper</a> +</li> +</ul> + + +<h3><a id="index_r"></a>- r -</h3><ul> +<li>run() +: <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">AccelStepper</a> +, <a class="el" href="classMultiStepper.html#a26c2f53b1e7ddf5d5dfb333f6fb7fb92">MultiStepper</a> +</li> +<li>runSpeed() +: <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">AccelStepper</a> +</li> +<li>runSpeedToPosition() +: <a class="el" href="classAccelStepper.html#a9270d20336e76ac1fd5bcd5b9c34f301">AccelStepper</a> +, <a class="el" href="classMultiStepper.html#a2592f55864ce3ace125944db624317bc">MultiStepper</a> +</li> +<li>runToNewPosition() +: <a class="el" href="classAccelStepper.html#a176c5d2e4c2f21e9e92b12e39a6f0e67">AccelStepper</a> +</li> +<li>runToPosition() +: <a class="el" href="classAccelStepper.html#a344f58fef8cc34ac5aa75ba4b665d21c">AccelStepper</a> +</li> +</ul> + + +<h3><a id="index_s"></a>- s -</h3><ul> +<li>setAcceleration() +: <a class="el" href="classAccelStepper.html#adfb19e3cd2a028a1fe78131787604fd1">AccelStepper</a> +</li> +<li>setCurrentPosition() +: <a class="el" href="classAccelStepper.html#a9d917f014317fb9d3b5dc14e66f6c689">AccelStepper</a> +</li> +<li>setEnablePin() +: <a class="el" href="classAccelStepper.html#a56a81c5f00d02ca19646718e88e974c0">AccelStepper</a> +</li> +<li>setMaxSpeed() +: <a class="el" href="classAccelStepper.html#abee8d466229b87accba33d6ec929c18f">AccelStepper</a> +</li> +<li>setMinPulseWidth() +: <a class="el" href="classAccelStepper.html#af4d3818e691dad5dc518308796ccf154">AccelStepper</a> +</li> +<li>setOutputPins() +: <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">AccelStepper</a> +</li> +<li>setPinsInverted() +: <a class="el" href="classAccelStepper.html#ac62cae590c2f9c303519a3a1c4adc8ab">AccelStepper</a> +</li> +<li>setSpeed() +: <a class="el" href="classAccelStepper.html#ae79c49ad69d5ccc9da0ee691fa4ca235">AccelStepper</a> +</li> +<li>speed() +: <a class="el" href="classAccelStepper.html#a4f0989d0ae264e7eadfe1fa720769fb6">AccelStepper</a> +</li> +<li>step() +: <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">AccelStepper</a> +</li> +<li>step0() +: <a class="el" href="classAccelStepper.html#aa2913db789e6fa05756579ff82fe6e7e">AccelStepper</a> +</li> +<li>step1() +: <a class="el" href="classAccelStepper.html#a63ef416bc039da539294e84a41e7d7dc">AccelStepper</a> +</li> +<li>step2() +: <a class="el" href="classAccelStepper.html#a674e48a6bf99e7ad1f013c1e4414565a">AccelStepper</a> +</li> +<li>step3() +: <a class="el" href="classAccelStepper.html#ad73c61aade2e10243dfb02aefa7ab8fd">AccelStepper</a> +</li> +<li>step4() +: <a class="el" href="classAccelStepper.html#a8910bd9218a54dfb7e2372a6d0bcca0c">AccelStepper</a> +</li> +<li>step6() +: <a class="el" href="classAccelStepper.html#a4b0faf1ebc0c584ab606c0c0f66986b0">AccelStepper</a> +</li> +<li>step8() +: <a class="el" href="classAccelStepper.html#aa909c6c3fcd3ea4b3ee1aa8b4d0f7e87">AccelStepper</a> +</li> +<li>stepBackward() +: <a class="el" href="classAccelStepper.html#af8abc9ede47286fa33b518e0bf297c6a">AccelStepper</a> +</li> +<li>stepForward() +: <a class="el" href="classAccelStepper.html#af4908b53e1821f0a6d2dab509257b3e6">AccelStepper</a> +</li> +<li>stop() +: <a class="el" href="classAccelStepper.html#a638817b85aed9d5cd15c76a76c00aced">AccelStepper</a> +</li> +</ul> + + +<h3><a id="index_t"></a>- t -</h3><ul> +<li>targetPosition() +: <a class="el" href="classAccelStepper.html#a96685e0945b7cf75d5959da679cd911e">AccelStepper</a> +</li> +</ul> + + +<h3><a id="index__7E"></a>- ~ -</h3><ul> +<li>~AccelStepper() +: <a class="el" href="classAccelStepper.html#a89c4c8de0c983e7a59de6a959481aff1">AccelStepper</a> +</li> +</ul> +</div><!-- contents --> +<!-- start footer part --> +<hr class="footer"/><address class="footer"><small> +Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 +</small></address> +</body> +</html> diff --git a/Arduino/libraries/AccelStepper/extras/doc/functions_func.html b/Arduino/libraries/AccelStepper/extras/doc/functions_func.html new file mode 100644 index 0000000..615fa26 --- /dev/null +++ b/Arduino/libraries/AccelStepper/extras/doc/functions_func.html @@ -0,0 +1,210 @@ +<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> +<html xmlns="http://www.w3.org/1999/xhtml"> +<head> +<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/> +<meta http-equiv="X-UA-Compatible" content="IE=9"/> +<meta name="generator" content="Doxygen 1.9.1"/> +<meta name="viewport" content="width=device-width, initial-scale=1"/> +<title>AccelStepper: Class Members - Functions</title> +<link href="tabs.css" rel="stylesheet" type="text/css"/> +<script type="text/javascript" src="jquery.js"></script> +<script type="text/javascript" src="dynsections.js"></script> +<link href="doxygen.css" rel="stylesheet" type="text/css" /> +</head> +<body> +<div id="top"><!-- do not remove this div, it is closed by doxygen! --> +<div id="titlearea"> +<table cellspacing="0" cellpadding="0"> + <tbody> + <tr style="height: 56px;"> + <td id="projectalign" style="padding-left: 0.5em;"> + <div id="projectname">AccelStepper + </div> + </td> + </tr> + </tbody> +</table> +</div> +<!-- end header part --> +<!-- Generated by Doxygen 1.9.1 --> +<script type="text/javascript" src="menudata.js"></script> +<script type="text/javascript" src="menu.js"></script> +<script type="text/javascript"> +/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */ +$(function() { + initMenu('',false,false,'search.php','Search'); +}); +/* @license-end */</script> +<div id="main-nav"></div> +</div><!-- top --> +<div class="contents"> +  + +<h3><a id="index_a"></a>- a -</h3><ul> +<li>acceleration() +: <a class="el" href="classAccelStepper.html#a8b76f1ae6a49d2c2887b9fea30b8d84f">AccelStepper</a> +</li> +<li>AccelStepper() +: <a class="el" href="classAccelStepper.html#a3bc75bd6571b98a6177838ca81ac39ab">AccelStepper</a> +</li> +<li>addStepper() +: <a class="el" href="classMultiStepper.html#a383d8486e17ad9de9f1bafcbd9aa52ee">MultiStepper</a> +</li> +</ul> + + +<h3><a id="index_c"></a>- c -</h3><ul> +<li>computeNewSpeed() +: <a class="el" href="classAccelStepper.html#aab5944f43f869675958939c421bd9a01">AccelStepper</a> +</li> +<li>currentPosition() +: <a class="el" href="classAccelStepper.html#a5dce13ab2a1b02b8f443318886bf6fc5">AccelStepper</a> +</li> +</ul> + + +<h3><a id="index_d"></a>- d -</h3><ul> +<li>disableOutputs() +: <a class="el" href="classAccelStepper.html#a3591e29a236e2935afd7f64ff6c22006">AccelStepper</a> +</li> +<li>distanceToGo() +: <a class="el" href="classAccelStepper.html#a748665c3962e66fbc0e9373eb14c69c1">AccelStepper</a> +</li> +</ul> + + +<h3><a id="index_e"></a>- e -</h3><ul> +<li>enableOutputs() +: <a class="el" href="classAccelStepper.html#aa279a50d30d0413f570c692cff071643">AccelStepper</a> +</li> +</ul> + + +<h3><a id="index_i"></a>- i -</h3><ul> +<li>isRunning() +: <a class="el" href="classAccelStepper.html#a3a60cc0b962f8ceb81ee1e6f36443ceb">AccelStepper</a> +</li> +</ul> + + +<h3><a id="index_m"></a>- m -</h3><ul> +<li>maxSpeed() +: <a class="el" href="classAccelStepper.html#a6123a1dfb4495d8bd2646288eae60d7f">AccelStepper</a> +</li> +<li>move() +: <a class="el" href="classAccelStepper.html#a68942c66e78fb7f7b5f0cdade6eb7f06">AccelStepper</a> +</li> +<li>moveTo() +: <a class="el" href="classAccelStepper.html#ace236ede35f87c63d18da25810ec9736">AccelStepper</a> +, <a class="el" href="classMultiStepper.html#a291fec32a79390b6eb00296cffac49ee">MultiStepper</a> +</li> +<li>MultiStepper() +: <a class="el" href="classMultiStepper.html#a14c0c1c0f55e5bbdc4971730e32304c2">MultiStepper</a> +</li> +</ul> + + +<h3><a id="index_r"></a>- r -</h3><ul> +<li>run() +: <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">AccelStepper</a> +, <a class="el" href="classMultiStepper.html#a26c2f53b1e7ddf5d5dfb333f6fb7fb92">MultiStepper</a> +</li> +<li>runSpeed() +: <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">AccelStepper</a> +</li> +<li>runSpeedToPosition() +: <a class="el" href="classAccelStepper.html#a9270d20336e76ac1fd5bcd5b9c34f301">AccelStepper</a> +, <a class="el" href="classMultiStepper.html#a2592f55864ce3ace125944db624317bc">MultiStepper</a> +</li> +<li>runToNewPosition() +: <a class="el" href="classAccelStepper.html#a176c5d2e4c2f21e9e92b12e39a6f0e67">AccelStepper</a> +</li> +<li>runToPosition() +: <a class="el" href="classAccelStepper.html#a344f58fef8cc34ac5aa75ba4b665d21c">AccelStepper</a> +</li> +</ul> + + +<h3><a id="index_s"></a>- s -</h3><ul> +<li>setAcceleration() +: <a class="el" href="classAccelStepper.html#adfb19e3cd2a028a1fe78131787604fd1">AccelStepper</a> +</li> +<li>setCurrentPosition() +: <a class="el" href="classAccelStepper.html#a9d917f014317fb9d3b5dc14e66f6c689">AccelStepper</a> +</li> +<li>setEnablePin() +: <a class="el" href="classAccelStepper.html#a56a81c5f00d02ca19646718e88e974c0">AccelStepper</a> +</li> +<li>setMaxSpeed() +: <a class="el" href="classAccelStepper.html#abee8d466229b87accba33d6ec929c18f">AccelStepper</a> +</li> +<li>setMinPulseWidth() +: <a class="el" href="classAccelStepper.html#af4d3818e691dad5dc518308796ccf154">AccelStepper</a> +</li> +<li>setOutputPins() +: <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">AccelStepper</a> +</li> +<li>setPinsInverted() +: <a class="el" href="classAccelStepper.html#ac62cae590c2f9c303519a3a1c4adc8ab">AccelStepper</a> +</li> +<li>setSpeed() +: <a class="el" href="classAccelStepper.html#ae79c49ad69d5ccc9da0ee691fa4ca235">AccelStepper</a> +</li> +<li>speed() +: <a class="el" href="classAccelStepper.html#a4f0989d0ae264e7eadfe1fa720769fb6">AccelStepper</a> +</li> +<li>step() +: <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">AccelStepper</a> +</li> +<li>step0() +: <a class="el" href="classAccelStepper.html#aa2913db789e6fa05756579ff82fe6e7e">AccelStepper</a> +</li> +<li>step1() +: <a class="el" href="classAccelStepper.html#a63ef416bc039da539294e84a41e7d7dc">AccelStepper</a> +</li> +<li>step2() +: <a class="el" href="classAccelStepper.html#a674e48a6bf99e7ad1f013c1e4414565a">AccelStepper</a> +</li> +<li>step3() +: <a class="el" href="classAccelStepper.html#ad73c61aade2e10243dfb02aefa7ab8fd">AccelStepper</a> +</li> +<li>step4() +: <a class="el" href="classAccelStepper.html#a8910bd9218a54dfb7e2372a6d0bcca0c">AccelStepper</a> +</li> +<li>step6() +: <a class="el" href="classAccelStepper.html#a4b0faf1ebc0c584ab606c0c0f66986b0">AccelStepper</a> +</li> +<li>step8() +: <a class="el" href="classAccelStepper.html#aa909c6c3fcd3ea4b3ee1aa8b4d0f7e87">AccelStepper</a> +</li> +<li>stepBackward() +: <a class="el" href="classAccelStepper.html#af8abc9ede47286fa33b518e0bf297c6a">AccelStepper</a> +</li> +<li>stepForward() +: <a class="el" href="classAccelStepper.html#af4908b53e1821f0a6d2dab509257b3e6">AccelStepper</a> +</li> +<li>stop() +: <a class="el" href="classAccelStepper.html#a638817b85aed9d5cd15c76a76c00aced">AccelStepper</a> +</li> +</ul> + + +<h3><a id="index_t"></a>- t -</h3><ul> +<li>targetPosition() +: <a class="el" href="classAccelStepper.html#a96685e0945b7cf75d5959da679cd911e">AccelStepper</a> +</li> +</ul> + + +<h3><a id="index__7E"></a>- ~ -</h3><ul> +<li>~AccelStepper() +: <a class="el" href="classAccelStepper.html#a89c4c8de0c983e7a59de6a959481aff1">AccelStepper</a> +</li> +</ul> +</div><!-- contents --> +<!-- start footer part --> +<hr class="footer"/><address class="footer"><small> +Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 +</small></address> +</body> +</html> diff --git a/Arduino/libraries/AccelStepper/extras/doc/index.html b/Arduino/libraries/AccelStepper/extras/doc/index.html new file mode 100644 index 0000000..3eb6003 --- /dev/null +++ b/Arduino/libraries/AccelStepper/extras/doc/index.html @@ -0,0 +1,239 @@ +<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> +<html xmlns="http://www.w3.org/1999/xhtml"> +<head> +<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/> +<meta http-equiv="X-UA-Compatible" content="IE=9"/> +<meta name="generator" content="Doxygen 1.9.1"/> +<meta name="viewport" content="width=device-width, initial-scale=1"/> +<title>AccelStepper: AccelStepper library for Arduino</title> +<link href="tabs.css" rel="stylesheet" type="text/css"/> +<script type="text/javascript" src="jquery.js"></script> +<script type="text/javascript" src="dynsections.js"></script> +<link href="doxygen.css" rel="stylesheet" type="text/css" /> +</head> +<body> +<div id="top"><!-- do not remove this div, it is closed by doxygen! --> +<div id="titlearea"> +<table cellspacing="0" cellpadding="0"> + <tbody> + <tr style="height: 56px;"> + <td id="projectalign" style="padding-left: 0.5em;"> + <div id="projectname">AccelStepper + </div> + </td> + </tr> + </tbody> +</table> +</div> +<!-- end header part --> +<!-- Generated by Doxygen 1.9.1 --> +<script type="text/javascript" src="menudata.js"></script> +<script type="text/javascript" src="menu.js"></script> +<script type="text/javascript"> +/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */ +$(function() { + initMenu('',false,false,'search.php','Search'); +}); +/* @license-end */</script> +<div id="main-nav"></div> +</div><!-- top --> +<div class="PageDoc"><div class="header"> + <div class="headertitle"> +<div class="title"><a class="el" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc.">AccelStepper</a> library for Arduino </div> </div> +</div><!--header--> +<div class="contents"> +<div class="textblock"><p>This is the Arduino <a class="el" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc.">AccelStepper</a> library. It provides an object-oriented interface for 2, 3 or 4 pin stepper motors and motor drivers.</p> +<p>The standard Arduino IDE includes the Stepper library (<a href="http://arduino.cc/en/Reference/Stepper">http://arduino.cc/en/Reference/Stepper</a>) for stepper motors. It is perfectly adequate for simple, single motor applications.</p> +<p><a class="el" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc.">AccelStepper</a> significantly improves on the standard Arduino Stepper library in several ways: </p><ul> +<li>Supports acceleration and deceleration </li> +<li>Supports multiple simultaneous steppers, with independent concurrent stepping on each stepper </li> +<li>Most API functions never delay() or block (unless otherwise stated) </li> +<li>Supports 2, 3 and 4 wire steppers, plus 3 and 4 wire half steppers. </li> +<li>Supports alternate stepping functions to enable support of AFMotor (<a href="https://github.com/adafruit/Adafruit-Motor-Shield-library">https://github.com/adafruit/Adafruit-Motor-Shield-library</a>) </li> +<li>Supports stepper drivers such as the Sparkfun EasyDriver (based on 3967 driver chip) </li> +<li>Very slow speeds are supported </li> +<li>Extensive API </li> +<li>Subclass support</li> +</ul> +<p>The latest version of this documentation can be downloaded from <a href="http://www.airspayce.com/mikem/arduino/AccelStepper">http://www.airspayce.com/mikem/arduino/AccelStepper</a> The version of the package that this documentation refers to can be downloaded from <a href="http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.64.zip">http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.64.zip</a></p> +<p>Example Arduino programs are included to show the main modes of use.</p> +<p>You can also find online help and discussion at <a href="http://groups.google.com/group/accelstepper">http://groups.google.com/group/accelstepper</a> Please use that group for all questions and discussions on this topic. Do not contact the author directly, unless it is to discuss commercial licensing. Before asking a question or reporting a bug, please read</p><ul> +<li><a href="http://en.wikipedia.org/wiki/Wikipedia:Reference_desk/How_to_ask_a_software_question">http://en.wikipedia.org/wiki/Wikipedia:Reference_desk/How_to_ask_a_software_question</a></li> +<li><a href="http://www.catb.org/esr/faqs/smart-questions.html">http://www.catb.org/esr/faqs/smart-questions.html</a></li> +<li><a href="http://www.chiark.greenend.org.uk/~shgtatham/bugs.html">http://www.chiark.greenend.org.uk/~shgtatham/bugs.html</a></li> +</ul> +<p>Beginners to C++ and stepper motors in general may find this helpful:</p><ul> +<li><a href="https://hackaday.io/project/183279-accelstepper-the-missing-manual">https://hackaday.io/project/183279-accelstepper-the-missing-manual</a></li> +<li><a href="https://hackaday.io/project/183713-using-the-arduino-accelstepper-library">https://hackaday.io/project/183713-using-the-arduino-accelstepper-library</a></li> +</ul> +<p>Tested on Arduino Diecimila and Mega with arduino-0018 & arduino-0021 on OpenSuSE 11.1 and avr-libc-1.6.1-1.15, cross-avr-binutils-2.19-9.1, cross-avr-gcc-4.1.3_20080612-26.5. Tested on Teensy <a href="http://www.pjrc.com/teensy">http://www.pjrc.com/teensy</a> including Teensy 3.1 built using Arduino IDE 1.0.5 with teensyduino addon 1.18 and later.</p> +<dl class="section user"><dt>Installation</dt><dd></dd></dl> +<p>Install in the usual way: unzip the distribution zip file to the libraries sub-folder of your sketchbook.</p> +<dl class="section user"><dt>Theory</dt><dd></dd></dl> +<p>This code uses speed calculations as described in "Generate stepper-motor speed profiles in real time" by David Austin <a href="http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf">http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf</a> or <a href="http://www.embedded.com/design/mcus-processors-and-socs/4006438/Generate-stepper-motor-speed-profiles-in-real-time">http://www.embedded.com/design/mcus-processors-and-socs/4006438/Generate-stepper-motor-speed-profiles-in-real-time</a> or <a href="http://web.archive.org/web/20140705143928/http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf">http://web.archive.org/web/20140705143928/http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf</a> with the exception that <a class="el" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc.">AccelStepper</a> uses steps per second rather than radians per second (because we dont know the step angle of the motor) An initial step interval is calculated for the first step, based on the desired acceleration On subsequent steps, shorter step intervals are calculated based on the previous step until max speed is achieved.</p> +<dl class="section user"><dt>Adafruit Motor Shield V2</dt><dd></dd></dl> +<p>The included examples AFMotor_* are for Adafruit Motor Shield V1 and do not work with Adafruit Motor Shield V2. See <a href="https://github.com/adafruit/Adafruit_Motor_Shield_V2_Library">https://github.com/adafruit/Adafruit_Motor_Shield_V2_Library</a> for examples that work with Adafruit Motor Shield V2.</p> +<dl class="section user"><dt>Donations</dt><dd></dd></dl> +<p>This library is offered under a free GPL license for those who want to use it that way. We try hard to keep it up to date, fix bugs and to provide free support. If this library has helped you save time or money, please consider donating at <a href="http://www.airspayce.com">http://www.airspayce.com</a> or here:</p> +<p> <form action="https://www.paypal.com/cgi-bin/webscr" method="post"><input type="hidden" name="cmd" value="_donations" /> <input type="hidden" name="business" value="[email protected]" /> <input type="hidden" name="lc" value="AU" /> <input type="hidden" name="item_name" value="Airspayce" /> <input type="hidden" name="item_number" value="AccelStepper" /> <input type="hidden" name="currency_code" value="USD" /> <input type="hidden" name="bn" value="PP-DonationsBF:btn_donateCC_LG.gif:NonHosted" /> <input type="image" alt="PayPal — The safer, easier way to pay online." name="submit" src="https://www.paypalobjects.com/en_AU/i/btn/btn_donateCC_LG.gif" /> <img alt="" src="https://www.paypalobjects.com/en_AU/i/scr/pixel.gif" width="1" height="1" border="0" /></form> </p> +<dl class="section user"><dt>Trademarks</dt><dd></dd></dl> +<p><a class="el" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc.">AccelStepper</a> is a trademark of AirSpayce Pty Ltd. The <a class="el" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc.">AccelStepper</a> mark was first used on April 26 2010 for international trade, and is used only in relation to motor control hardware and software. It is not to be confused with any other similar marks covering other goods and services.</p> +<dl class="section user"><dt>Copyright</dt><dd></dd></dl> +<p>This software is Copyright (C) 2010-2021 Mike McCauley. Use is subject to license conditions. The main licensing options available are GPL V3 or Commercial:</p> +<dl class="section user"><dt>Open Source Licensing GPL V3</dt><dd>This is the appropriate option if you want to share the source code of your application with everyone you distribute it to, and you also want to give them the right to share who uses it. If you wish to use this software under Open Source Licensing, you must contribute all your source code to the open source community in accordance with the GPL Version 23 when your application is distributed. See <a href="https://www.gnu.org/licenses/gpl-3.0.html">https://www.gnu.org/licenses/gpl-3.0.html</a></dd></dl> +<dl class="section user"><dt>Commercial Licensing</dt><dd>This is the appropriate option if you are creating proprietary applications and you are not prepared to distribute and share the source code of your application. To purchase a commercial license, contact <a href="#" onclick="location.href='mai'+'lto:'+'inf'+'o@'+'air'+'sp'+'ayc'+'e.'+'com'; return false;">info@<span style="display: none;">.nosp@m.</span>airs<span style="display: none;">.nosp@m.</span>payce<span style="display: none;">.nosp@m.</span>.com</a></dd></dl> +<dl class="section user"><dt>Revision History</dt><dd></dd></dl> +<dl class="section version"><dt>Version</dt><dd>1.0 Initial release</dd> +<dd> +1.1 Added speed() function to get the current speed. </dd> +<dd> +1.2 Added runSpeedToPosition() submitted by Gunnar Arndt. </dd> +<dd> +1.3 Added support for stepper drivers (ie with Step and Direction inputs) with _pins == 1 </dd> +<dd> +1.4 Added functional contructor to support AFMotor, contributed by Limor, with example sketches. </dd> +<dd> +1.5 Improvements contributed by Peter Mousley: Use of microsecond steps and other speed improvements to increase max stepping speed to about 4kHz. New option for user to set the min allowed pulse width. Added checks for already running at max speed and skip further calcs if so. </dd> +<dd> +1.6 Fixed a problem with wrapping of microsecond stepping that could cause stepping to hang. Reported by Sandy Noble. Removed redundant _lastRunTime member. </dd> +<dd> +1.7 Fixed a bug where setCurrentPosition() did not always work as expected. Reported by Peter Linhart. </dd> +<dd> +1.8 Added support for 4 pin half-steppers, requested by Harvey Moon </dd> +<dd> +1.9 setCurrentPosition() now also sets motor speed to 0. </dd> +<dd> +1.10 Builds on Arduino 1.0 </dd> +<dd> +1.11 Improvments from Michael Ellison: Added optional enable line support for stepper drivers Added inversion for step/direction/enable lines for stepper drivers </dd> +<dd> +1.12 Announce Google Group </dd> +<dd> +1.13 Improvements to speed calculation. Cost of calculation is now less in the worst case, and more or less constant in all cases. This should result in slightly beter high speed performance, and reduce anomalous speed glitches when other steppers are accelerating. However, its hard to see how to replace the sqrt() required at the very first step from 0 speed. </dd> +<dd> +1.14 Fixed a problem with compiling under arduino 0021 reported by EmbeddedMan </dd> +<dd> +1.15 Fixed a problem with runSpeedToPosition which did not correctly handle running backwards to a smaller target position. Added examples </dd> +<dd> +1.16 Fixed some cases in the code where abs() was used instead of fabs(). </dd> +<dd> +1.17 Added example ProportionalControl </dd> +<dd> +1.18 Fixed a problem: If one calls the funcion runSpeed() when Speed is zero, it makes steps without counting. reported by Friedrich, Klappenbach. </dd> +<dd> +1.19 Added MotorInterfaceType and symbolic names for the number of pins to use for the motor interface. Updated examples to suit. Replaced individual pin assignment variables _pin1, _pin2 etc with array _pin[4]. _pins member changed to _interface. Added _pinInverted array to simplify pin inversion operations. Added new function setOutputPins() which sets the motor output pins. It can be overridden in order to provide, say, serial output instead of parallel output Some refactoring and code size reduction. </dd> +<dd> +1.20 Improved documentation and examples to show need for correctly specifying <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5adedd394a375190a3df8d4519c0d4dc2f" title="4 wire full stepper, 4 motor pins required">AccelStepper::FULL4WIRE</a> and friends. </dd> +<dd> +1.21 Fixed a problem where desiredSpeed could compute the wrong step acceleration when _speed was small but non-zero. Reported by Brian Schmalz. Precompute sqrt_twoa to improve performance and max possible stepping speed </dd> +<dd> +1.22 Added Bounce.pde example Fixed a problem where calling moveTo(), setMaxSpeed(), setAcceleration() more frequently than the step time, even with the same values, would interfere with speed calcs. Now a new speed is computed only if there was a change in the set value. Reported by Brian Schmalz. </dd> +<dd> +1.23 Rewrite of the speed algorithms in line with <a href="http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf">http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf</a> Now expect smoother and more linear accelerations and decelerations. The desiredSpeed() function was removed. </dd> +<dd> +1.24 Fixed a problem introduced in 1.23: with runToPosition, which did never returned </dd> +<dd> +1.25 Now ignore attempts to set acceleration to 0.0 </dd> +<dd> +1.26 Fixed a problem where certina combinations of speed and accelration could cause oscillation about the target position. </dd> +<dd> +1.27 Added stop() function to stop as fast as possible with current acceleration parameters. Also added new Quickstop example showing its use. </dd> +<dd> +1.28 Fixed another problem where certain combinations of speed and acceleration could cause oscillation about the target position. Added support for 3 wire full and half steppers such as Hard Disk Drive spindle. Contributed by Yuri Ivatchkovitch. </dd> +<dd> +1.29 Fixed a problem that could cause a DRIVER stepper to continually step with some sketches. Reported by Vadim. </dd> +<dd> +1.30 Fixed a problem that could cause stepper to back up a few steps at the end of accelerated travel with certain speeds. Reported and patched by jolo. </dd> +<dd> +1.31 Updated author and distribution location details to airspayce.com </dd> +<dd> +1.32 Fixed a problem with enableOutputs() and setEnablePin on Arduino Due that prevented the enable pin changing stae correctly. Reported by Duane Bishop. </dd> +<dd> +1.33 Fixed an error in example AFMotor_ConstantSpeed.pde did not setMaxSpeed(); Fixed a problem that caused incorrect pin sequencing of FULL3WIRE and HALF3WIRE. Unfortunately this meant changing the signature for all step*() functions. Added example MotorShield, showing how to use AdaFruit Motor Shield to control a 3 phase motor such as a HDD spindle motor (and without using the AFMotor library. </dd> +<dd> +1.34 Added setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert) to allow inversion of 2, 3 and 4 wire stepper pins. Requested by Oleg. </dd> +<dd> +1.35 Removed default args from setPinsInverted(bool, bool, bool, bool, bool) to prevent ambiguity with setPinsInverted(bool, bool, bool). Reported by Mac Mac. </dd> +<dd> +1.36 Changed enableOutputs() and disableOutputs() to be virtual so can be overridden. Added new optional argument 'enable' to constructor, which allows you toi disable the automatic enabling of outputs at construction time. Suggested by Guido. </dd> +<dd> +1.37 Fixed a problem with step1 that could cause a rogue step in the wrong direction (or not, depending on the setup-time requirements of the connected hardware). Reported by Mark Tillotson. </dd> +<dd> +1.38 run() function incorrectly always returned true. Updated function and doc so it returns true if the motor is still running to the target position. </dd> +<dd> +1.39 Updated typos in keywords.txt, courtesey Jon Magill. </dd> +<dd> +1.40 Updated documentation, including testing on Teensy 3.1 </dd> +<dd> +1.41 Fixed an error in the acceleration calculations, resulting in acceleration of haldf the intended value </dd> +<dd> +1.42 Improved support for FULL3WIRE and HALF3WIRE output pins. These changes were in Yuri's original contribution but did not make it into production.<br /> + </dd> +<dd> +1.43 Added DualMotorShield example. Shows how to use <a class="el" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc.">AccelStepper</a> to control 2 x 2 phase steppers using the Itead Studio Arduino Dual Stepper Motor Driver Shield model IM120417015.<br /> + </dd> +<dd> +1.44 examples/DualMotorShield/DualMotorShield.ino examples/DualMotorShield/DualMotorShield.pde was missing from the distribution.<br /> + </dd> +<dd> +1.45 Fixed a problem where if setAcceleration was not called, there was no default acceleration. Reported by Michael Newman.<br /> + </dd> +<dd> +1.45 Fixed inaccuracy in acceleration rate by using Equation 15, suggested by Sebastian Gracki.<br /> + Performance improvements in runSpeed suggested by Jaakko Fagerlund.<br /> + </dd> +<dd> +1.46 Fixed error in documentation for runToPosition(). Reinstated time calculations in runSpeed() since new version is reported not to work correctly under some circumstances. Reported by Oleg V Gavva.<br /> + </dd> +<dd> +1.48 2015-08-25 Added new class <a class="el" href="classMultiStepper.html" title="Operate multiple AccelSteppers in a co-ordinated fashion.">MultiStepper</a> that can manage multiple AccelSteppers, and cause them all to move to selected positions at such a (constant) speed that they all arrive at their target position at the same time. Suitable for X-Y flatbeds etc.<br /> + Added new method maxSpeed() to <a class="el" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc.">AccelStepper</a> to return the currently configured maxSpeed.<br /> + </dd> +<dd> +1.49 2016-01-02 Testing with VID28 series instrument stepper motors and EasyDriver. OK, although with light pointers and slow speeds like 180 full steps per second the motor movement can be erratic, probably due to some mechanical resonance. Best to accelerate through this speed.<br /> + Added isRunning().<br /> + </dd> +<dd> +1.50 2016-02-25 <a class="el" href="classAccelStepper.html#a3591e29a236e2935afd7f64ff6c22006">AccelStepper::disableOutputs</a> now sets the enable pion to OUTPUT mode if the enable pin is defined. Patch from Piet De Jong.<br /> + Added notes about the fact that AFMotor_* examples do not work with Adafruit Motor Shield V2.<br /> + </dd> +<dd> +1.51 2016-03-24 Fixed a problem reported by gregor: when resetting the stepper motor position using setCurrentPosition() the stepper speed is reset by setting _stepInterval to 0, but _speed is not reset. this results in the stepper motor not starting again when calling setSpeed() with the same speed the stepper was set to before. </dd> +<dd> +1.52 2016-08-09 Added <a class="el" href="classMultiStepper.html" title="Operate multiple AccelSteppers in a co-ordinated fashion.">MultiStepper</a> to keywords.txt. Improvements to efficiency of <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">AccelStepper::runSpeed()</a> as suggested by David Grayson. Improvements to speed accuracy as suggested by David Grayson. </dd> +<dd> +1.53 2016-08-14 Backed out Improvements to speed accuracy from 1.52 as it did not work correctly. </dd> +<dd> +1.54 2017-01-24 Fixed some warnings about unused arguments. </dd> +<dd> +1.55 2017-01-25 Fixed another warning in MultiStepper.cpp </dd> +<dd> +1.56 2017-02-03 Fixed minor documentation error with DIRECTION_CCW and DIRECTION_CW. Reported by David Mutterer. Added link to Binpress commercial license purchasing. </dd> +<dd> +1.57 2017-03-28 _direction moved to protected at the request of Rudy Ercek. setMaxSpeed() and setAcceleration() now correct negative values to be positive. </dd> +<dd> +1.58 2018-04-13 Add initialisation for _enableInverted in constructor. </dd> +<dd> +1.59 2018-08-28 Update commercial licensing, remove binpress. </dd> +<dd> +1.60 2020-03-07 Release under GPL V3 </dd> +<dd> +1.61 2020-04-20 Added yield() call in runToPosition(), so that platforms like esp8266 dont hang/crash during long runs. </dd> +<dd> +1.62 2022-05-22 Added link to <a class="el" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc.">AccelStepper</a> - The Missing Manual.<br /> + Fixed a problem when setting the maxSpeed to 1.0 due to incomplete initialisation. Reported by Olivier Pécheux. <br /> + </dd> +<dd> +1.63 2022-06-30 Added virtual destructor at the request of Jan.<br /> + </dd> +<dd> +1.64 2022-10-31 Patch courtesy acwest: Changes to make <a class="el" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc.">AccelStepper</a> more subclassable. These changes are largely oriented to implementing new step-scheduling algorithms.</dd></dl> +<dl class="section author"><dt>Author</dt><dd>Mike McCauley (<a href="#" onclick="location.href='mai'+'lto:'+'mik'+'em'+'@ai'+'rs'+'pay'+'ce'+'.co'+'m'; return false;">mikem<span style="display: none;">.nosp@m.</span>@air<span style="display: none;">.nosp@m.</span>spayc<span style="display: none;">.nosp@m.</span>e.co<span style="display: none;">.nosp@m.</span>m</a>) DO NOT CONTACT THE AUTHOR DIRECTLY: USE THE GOOGLE GROUP </dd></dl> +</div></div><!-- PageDoc --> +</div><!-- contents --> +<!-- start footer part --> +<hr class="footer"/><address class="footer"><small> +Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 +</small></address> +</body> +</html> diff --git a/Arduino/libraries/AccelStepper/extras/doc/tab_b.gif b/Arduino/libraries/AccelStepper/extras/doc/tab_b.gif Binary files differnew file 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