1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
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>
|
