Boardcore::Stepper Class Reference

#include <Stepper.h>

Inheritance diagram for Boardcore::Stepper:

Public Types
enum class	PinConfiguration { COMMON_ANODE , COMMON_CATHODE }

Public Member Functions
	Stepper (miosix::GpioPin stepPin, miosix::GpioPin directionPin, float speed=1, float stepAngle=1.8, bool revertDirection=false, uint16_t microStep=1, PinConfiguration pinConfiguration=PinConfiguration::COMMON_CATHODE, miosix::GpioPin enablePin=MockGpioPin())
	Construct a new Stepper object.
void	enable ()
void	disable ()
virtual void	setSpeed (float speed)
	Changes the stepper motor speed.
virtual void	setMicroStepping (uint16_t microStep)
	Set the motor driver micro stepping configuration.
void	zeroPosition (float degrees=0)
	Overrides the driver's internal position counter.
virtual void	move (int16_t steps)
	Move the stepper motor by the specified amount of steps.
void	moveDeg (float degrees)
	Move the stepper motor by the specified amount of degrees.
virtual void	setPosition (int16_t steps)
	Set the position of the stepper motor.
void	setPositionDeg (float degrees)
	Set the position of the stepper motor.
int16_t	getCurrentPosition ()
virtual float	getCurrentDegPosition ()
	Returns the current absolute position of the stepper in degrees [deg].
bool	isEnabled ()
	Returns whether the stepper is enabled or not.
StepperData	getState (float moveDeg)
	Returns the current position and the current timestamp.

Protected Types
enum	Direction : int8_t { CLOCKWISE = 1 , COUNTER_CLOCKWISE = -1 }

Protected Member Functions
void	setDirection ()
	Sets the directionPin to the right value to go in the direction stored in currentDirection.
Stepper &	operator= (const Stepper &)=delete
	Stepper (const Stepper &p)=delete

Protected Attributes
miosix::GpioPin	stepPin
miosix::GpioPin	directionPin
float	speed
float	stepAngle
bool	enabled = false
bool	revertDirection
uint16_t	microStep
PinConfiguration	pinConfig
miosix::GpioPin	enablePin
Direction	currentDirection
float	currentPositionDeg = 0

Detailed Description

Definition at line 35 of file Stepper.h.

Member Enumeration Documentation

Direction

enum Boardcore::Stepper::Direction : int8_t

protected

Enumerator
CLOCKWISE
COUNTER_CLOCKWISE

Definition at line 138 of file Stepper.h.

PinConfiguration

enum class Boardcore::Stepper::PinConfiguration

strong

Enumerator
COMMON_ANODE	All + signals connected to Vdd (3v3)
COMMON_CATHODE	All - signals connected to Gnd.

Definition at line 38 of file Stepper.h.

Constructor & Destructor Documentation

Stepper() [1/2]

Boardcore::Stepper::Stepper	(	miosix::GpioPin	stepPin,
		miosix::GpioPin	directionPin,
		float	speed = 1,
		float	stepAngle = 1.8,
		bool	revertDirection = false,
		uint16_t	microStep = 1,
		PinConfiguration	pinConfiguration = PinConfiguration::COMMON_CATHODE,
		miosix::GpioPin	enablePin = MockGpioPin() )

Construct a new Stepper object.

By default the direction pin is held low when moving forward. If the given speed is negative the motor wont move.

Parameters

stepPin	Pin connected to the step signal of the driver.
directionPin	Pin connected to the direction signal of the driver.
speed	Number of rotations per second.
stepAngle	Angle covered by one motor step.
revertDirection	Whether or not revert the direction signal.

Definition at line 27 of file Stepper.cpp.

Stepper() [2/2]

Boardcore::Stepper::Stepper ( const Stepper & p )

protecteddelete

Member Function Documentation

disable()

void Boardcore::Stepper::disable

(

)

Definition at line 54 of file Stepper.cpp.

enable()

void Boardcore::Stepper::enable

(

)

Definition at line 45 of file Stepper.cpp.

getCurrentDegPosition()

float Boardcore::Stepper::getCurrentDegPosition ( )

inlinevirtual

Returns the current absolute position of the stepper in degrees [deg].

Reimplemented in Boardcore::StepperPWM.

Definition at line 196 of file Stepper.h.

getCurrentPosition()

int16_t Boardcore::Stepper::getCurrentPosition ( )

inline

Definition at line 191 of file Stepper.h.

getState()

StepperData Boardcore::Stepper::getState

(

float

moveDeg

)

Returns the current position and the current timestamp.

Definition at line 151 of file Stepper.cpp.

isEnabled()

bool Boardcore::Stepper::isEnabled

(

)

Returns whether the stepper is enabled or not.

Definition at line 149 of file Stepper.cpp.

move()

void Boardcore::Stepper::move ( int16_t steps )

virtual

Move the stepper motor by the specified amount of steps.

Reimplemented in Boardcore::StepperPWM.

Definition at line 106 of file Stepper.cpp.

moveDeg()

void Boardcore::Stepper::moveDeg ( float degrees )

inline

Move the stepper motor by the specified amount of degrees.

Definition at line 176 of file Stepper.h.

operator=()

Stepper & Boardcore::Stepper::operator= ( const Stepper & )

protecteddelete

setDirection()

void Boardcore::Stepper::setDirection ( )

protected

Sets the directionPin to the right value to go in the direction stored in currentDirection.

Definition at line 63 of file Stepper.cpp.

setMicroStepping()

void Boardcore::Stepper::setMicroStepping ( uint16_t microStep )

inlinevirtual

Set the motor driver micro stepping configuration.

This method has no effect if micro steps are changed via physical switches.

Reimplemented in Boardcore::StepperPWM.

Definition at line 166 of file Stepper.h.

setPosition()

void Boardcore::Stepper::setPosition ( int16_t steps )

inlinevirtual

Set the position of the stepper motor.

Note that this function uses delayUs, thus it blocks execution based on the stepper motor speed and movement.

Definition at line 181 of file Stepper.h.

setPositionDeg()

void Boardcore::Stepper::setPositionDeg ( float degrees )

inline

Set the position of the stepper motor.

Note that this function uses delayUs, thus it blocks execution based on the stepper motor speed and movement.

Definition at line 186 of file Stepper.h.

setSpeed()

void Boardcore::Stepper::setSpeed ( float speed )

inlinevirtual

Changes the stepper motor speed.

Parameters

speed

Speed in rotation per second. [rev/s]

Reimplemented in Boardcore::StepperPWM.

Definition at line 164 of file Stepper.h.

zeroPosition()

void Boardcore::Stepper::zeroPosition ( float degrees = 0 )

inline

Overrides the driver's internal position counter.

Definition at line 171 of file Stepper.h.

Member Data Documentation

currentDirection

Direction Boardcore::Stepper::currentDirection

protected

Definition at line 160 of file Stepper.h.

currentPositionDeg

float Boardcore::Stepper::currentPositionDeg = 0

protected

Definition at line 161 of file Stepper.h.

directionPin

miosix::GpioPin Boardcore::Stepper::directionPin

protected

Definition at line 151 of file Stepper.h.

enabled

bool Boardcore::Stepper::enabled = false

protected

Definition at line 154 of file Stepper.h.

enablePin

miosix::GpioPin Boardcore::Stepper::enablePin

protected

Definition at line 158 of file Stepper.h.

microStep

uint16_t Boardcore::Stepper::microStep

protected

Definition at line 156 of file Stepper.h.

pinConfig

PinConfiguration Boardcore::Stepper::pinConfig

protected

Definition at line 157 of file Stepper.h.

revertDirection

bool Boardcore::Stepper::revertDirection

protected

Definition at line 155 of file Stepper.h.

speed

float Boardcore::Stepper::speed

protected

Definition at line 152 of file Stepper.h.

stepAngle

float Boardcore::Stepper::stepAngle

protected

Definition at line 153 of file Stepper.h.

stepPin

miosix::GpioPin Boardcore::Stepper::stepPin

protected

Definition at line 150 of file Stepper.h.

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

• src/shared/actuators/stepper/Stepper.h
• src/shared/actuators/stepper/Stepper.cpp