Generated on Sun Jan 8 17:27:41 2012 for AccelStepper by + +
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+Class List
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+Here are the classes, structs, unions and interfaces with brief descriptions:
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+| CAccelStepper | Support for stepper motors with acceleration etc |
| CMultiStepper | Operate multiple AccelSteppers in a co-ordinated fashion |
+Generated by +
+ 1.8.11
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diff --git a/02_Software/01_Arduino/libraries/AccelStepper/doc/classAccelStepper-members.html b/02_Software/01_Arduino/libraries/AccelStepper/doc/classAccelStepper-members.html
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+ AccelStepper
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+AccelStepper Member List
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+This is the complete list of members for AccelStepper, including all inherited members.
+| _direction | AccelStepper | protected |
| AccelStepper(uint8_t interface=AccelStepper::FULL4WIRE, uint8_t pin1=2, uint8_t pin2=3, uint8_t pin3=4, uint8_t pin4=5, bool enable=true) | AccelStepper | |
| AccelStepper(void(*forward)(), void(*backward)()) | AccelStepper | |
| computeNewSpeed() | AccelStepper | protected |
| currentPosition() | AccelStepper | |
| Direction enum name | AccelStepper | protected |
| DIRECTION_CCW enum value | AccelStepper | protected |
| DIRECTION_CW enum value | AccelStepper | protected |
| disableOutputs() | AccelStepper | virtual |
| distanceToGo() | AccelStepper | |
| DRIVER enum value | AccelStepper | |
| enableOutputs() | AccelStepper | virtual |
| FULL2WIRE enum value | AccelStepper | |
| FULL3WIRE enum value | AccelStepper | |
| FULL4WIRE enum value | AccelStepper | |
| FUNCTION enum value | AccelStepper | |
| HALF3WIRE enum value | AccelStepper | |
| HALF4WIRE enum value | AccelStepper | |
| isRunning() | AccelStepper | |
| maxSpeed() | AccelStepper | |
| MotorInterfaceType enum name | AccelStepper | |
| move(long relative) | AccelStepper | |
| moveTo(long absolute) | AccelStepper | |
| run() | AccelStepper | |
| runSpeed() | AccelStepper | |
| runSpeedToPosition() | AccelStepper | |
| runToNewPosition(long position) | AccelStepper | |
| runToPosition() | AccelStepper | |
| setAcceleration(float acceleration) | AccelStepper | |
| setCurrentPosition(long position) | AccelStepper | |
| setEnablePin(uint8_t enablePin=0xff) | AccelStepper | |
| setMaxSpeed(float speed) | AccelStepper | |
| setMinPulseWidth(unsigned int minWidth) | AccelStepper | |
| setOutputPins(uint8_t mask) | AccelStepper | protectedvirtual |
| setPinsInverted(bool directionInvert=false, bool stepInvert=false, bool enableInvert=false) | AccelStepper | |
| setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert) | AccelStepper | |
| setSpeed(float speed) | AccelStepper | |
| speed() | AccelStepper | |
| step(long step) | AccelStepper | protectedvirtual |
| step0(long step) | AccelStepper | protectedvirtual |
| step1(long step) | AccelStepper | protectedvirtual |
| step2(long step) | AccelStepper | protectedvirtual |
| step3(long step) | AccelStepper | protectedvirtual |
| step4(long step) | AccelStepper | protectedvirtual |
| step6(long step) | AccelStepper | protectedvirtual |
| step8(long step) | AccelStepper | protectedvirtual |
| stop() | AccelStepper | |
| targetPosition() | AccelStepper |
+Generated by +
+ 1.8.11
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diff --git a/02_Software/01_Arduino/libraries/AccelStepper/doc/classAccelStepper.html b/02_Software/01_Arduino/libraries/AccelStepper/doc/classAccelStepper.html
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+ AccelStepper
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+Public Types |
+Public Member Functions |
+Protected Types |
+Protected Member Functions |
+Protected Attributes |
+List of all members
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+AccelStepper Class Reference
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The documentation for this class was generated from the following files:
+
+Support for stepper motors with acceleration etc. + More...
+ +#include <AccelStepper.h>
+Public Types | |
| enum | MotorInterfaceType { + FUNCTION = 0, +DRIVER = 1, +FULL2WIRE = 2, +FULL3WIRE = 3, + + FULL4WIRE = 4, +HALF3WIRE = 6, +HALF4WIRE = 8 + + } |
| Symbolic names for number of pins. Use this in the pins argument the AccelStepper constructor to provide a symbolic name for the number of pins to use. More... | |
+Public Member Functions | |
| AccelStepper (uint8_t interface=AccelStepper::FULL4WIRE, uint8_t pin1=2, uint8_t pin2=3, uint8_t pin3=4, uint8_t pin4=5, bool enable=true) | |
| AccelStepper (void(*forward)(), void(*backward)()) | |
| void | moveTo (long absolute) |
| void | move (long relative) |
| boolean | run () |
| boolean | runSpeed () |
| void | setMaxSpeed (float speed) |
| float | maxSpeed () |
| void | setAcceleration (float acceleration) |
| void | setSpeed (float speed) |
| float | speed () |
| long | distanceToGo () |
| long | targetPosition () |
| long | currentPosition () |
| void | setCurrentPosition (long position) |
| void | runToPosition () |
| boolean | runSpeedToPosition () |
| void | runToNewPosition (long position) |
| void | stop () |
| virtual void | disableOutputs () |
| virtual void | enableOutputs () |
| void | setMinPulseWidth (unsigned int minWidth) |
| void | setEnablePin (uint8_t enablePin=0xff) |
| void | setPinsInverted (bool directionInvert=false, bool stepInvert=false, bool enableInvert=false) |
| void | setPinsInverted (bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert) |
| bool | isRunning () |
+Protected Types | |
| enum | Direction { DIRECTION_CCW = 0, +DIRECTION_CW = 1 + } |
| Direction indicator Symbolic names for the direction the motor is turning. More... | |
+Protected Member Functions | |
| void | computeNewSpeed () |
| virtual void | setOutputPins (uint8_t mask) |
| virtual void | step (long step) |
| virtual void | step0 (long step) |
| virtual void | step1 (long step) |
| virtual void | step2 (long step) |
| virtual void | step3 (long step) |
| virtual void | step4 (long step) |
| virtual void | step6 (long step) |
| virtual void | step8 (long step) |
+Protected Attributes | |
| boolean | _direction |
Detailed Description
+Support for stepper motors with acceleration etc.
+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.
+- Operation
- 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 run() function steps the motor once if a new step is due. The run() function must be called frequently until the motor is in the desired position, after which time run() will do nothing.
- Positioning
- 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.
- Caveats
- This is an open loop controller: If the motor stalls or is oversped, AccelStepper 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 think it is, relative to the initial starting point).
- Performance
- 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 run() function is called frequently enough to step the motor whenever required for the speed set. Calling setAcceleration() is expensive, since it requires a square root to be calculated.
Gregor Christandl reports that with an Arduino Due and a simple test program, he measured 43163 steps per second using runSpeed(), and 16214 steps per second using run();
+Member Enumeration Documentation
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+ +protected | +
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| enum AccelStepper::MotorInterfaceType | +
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+Symbolic names for number of pins. Use this in the pins argument the AccelStepper constructor to provide a symbolic name for the number of pins to use.
+Constructor & Destructor Documentation
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| AccelStepper::AccelStepper | +( | +uint8_t | +interface = AccelStepper::FULL4WIRE, |
+
| + | + | uint8_t | +pin1 = 2, |
+
| + | + | uint8_t | +pin2 = 3, |
+
| + | + | uint8_t | +pin3 = 4, |
+
| + | + | uint8_t | +pin4 = 5, |
+
| + | + | bool | +enable = true |
+
| + | ) | ++ |
+
+Constructor. You can have multiple simultaneous steppers, all moving at different speeds and accelerations, provided you call their run() 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 enableOutputs().
- Parameters
-
+
+
+[in] interface Number of pins to interface to. Integer values are supported, but it is preferred to use the MotorInterfaceType symbolic names. AccelStepper::DRIVER (1) means a stepper driver (with Step and Direction pins). If an enable line is also needed, call setEnablePin() after construction. You may also invert the pins using setPinsInverted(). AccelStepper::FULL2WIRE (2) means a 2 wire stepper (2 pins required). AccelStepper::FULL3WIRE (3) means a 3 wire stepper, such as HDD spindle (3 pins required). AccelStepper::FULL4WIRE (4) means a 4 wire stepper (4 pins required). AccelStepper::HALF3WIRE (6) means a 3 wire half stepper, such as HDD spindle (3 pins required) AccelStepper::HALF4WIRE (8) means a 4 wire half stepper (4 pins required) Defaults to AccelStepper::FULL4WIRE (4) pins. [in] pin1 Arduino digital pin number for motor pin 1. Defaults to pin 2. For a AccelStepper::DRIVER (interface==1), this is the Step input to the driver. Low to high transition means to step) [in] pin2 Arduino digital pin number for motor pin 2. Defaults to pin 3. For a AccelStepper::DRIVER (interface==1), this is the Direction input the driver. High means forward. [in] pin3 Arduino digital pin number for motor pin 3. Defaults to pin 4. [in] pin4 Arduino digital pin number for motor pin 4. Defaults to pin 5. [in] enable If this is true (the default), enableOutputs() will be called to enable the output pins at construction time.
+
References _direction, DIRECTION_CCW, enableOutputs(), and setAcceleration().
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| AccelStepper::AccelStepper | +( | +void(*)() | +forward, | +
| + | + | void(*)() | +backward | +
| + | ) | ++ |
+
+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 run() 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.
- Parameters
-
+
+
+[in] forward void-returning procedure that will make a forward step [in] backward void-returning procedure that will make a backward step
+
References _direction, DIRECTION_CCW, and setAcceleration().
+ +Member Function Documentation
+ +
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+ +protected | +
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+Forces the library to compute a new instantaneous speed and set that as the current speed. It is called by the library:
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+
- after each step +
- after change to maxSpeed through setMaxSpeed() +
- after change to acceleration through setAcceleration() +
- after change to target position (relative or absolute) through move() or moveTo() +
References _direction, DIRECTION_CCW, DIRECTION_CW, and distanceToGo().
+ +Referenced by moveTo(), run(), setAcceleration(), and setMaxSpeed().
+ +
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| long AccelStepper::currentPosition | +( | +) | ++ |
+
+The currently motor position.
- Returns
- the current motor position in steps. Positive is clockwise from the 0 position.
Referenced by MultiStepper::moveTo().
+ +
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+ +virtual | +
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+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 enableOutputs() before stepping again. If the enable Pin is defined, sets it to OUTPUT mode and clears the pin to disabled.
+ +References setOutputPins().
+ +
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| long AccelStepper::distanceToGo | +( | +) | ++ |
+
+The distance from the current position to the target position.
- Returns
- the distance from the current position to the target position in steps. Positive is clockwise from the current position.
Referenced by computeNewSpeed(), and run().
+ +
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+ +virtual | +
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+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.
+ +References FULL3WIRE, FULL4WIRE, HALF3WIRE, and HALF4WIRE.
+ +Referenced by AccelStepper().
+ +
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| bool AccelStepper::isRunning | +( | +) | ++ |
+
+Checks to see if the motor is currently running to a target
- Returns
- true if the speed is not zero or not at the target position
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| float AccelStepper::maxSpeed | +( | +) | ++ |
+
+returns the maximum speed configured for this stepper that was previously set by setMaxSpeed();
- Returns
- The currently configured maximum speed
Referenced by MultiStepper::moveTo().
+ +
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+| void AccelStepper::move | +( | +long | +relative | ) | ++ |
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| void AccelStepper::moveTo | +( | +long | +absolute | ) | ++ |
+
+Set the target position. The run() 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: moveTo() also recalculates the speed for the next step. If you are trying to use constant speed movements, you should call setSpeed() after calling moveTo().
- Parameters
-
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+[in] absolute The desired absolute position. Negative is anticlockwise from the 0 position.
+
References computeNewSpeed().
+ +Referenced by move(), MultiStepper::moveTo(), and runToNewPosition().
+ +
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| boolean AccelStepper::run | +( | +) | ++ |
+
+Poll the motor and step it if a step is due, implementing accelerations and decelerations to acheive 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 run() 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.
- Returns
- true if the motor is still running to the target position.
References computeNewSpeed(), distanceToGo(), and runSpeed().
+ +Referenced by runToPosition().
+ +
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| boolean AccelStepper::runSpeed | +( | +) | ++ |
+
+Poll the motor and step it if a step is due, implementing a constant speed as set by the most recent call to setSpeed(). You must call this as frequently as possible, but at least once per step interval,
- Returns
- true if the motor was stepped.
References _direction, DIRECTION_CW, and step().
+ +Referenced by MultiStepper::run(), run(), and runSpeedToPosition().
+ +
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| boolean AccelStepper::runSpeedToPosition | +( | +) | ++ |
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+Runs at the currently selected speed until the target position is reached Does not implement accelerations.
- Returns
- true if it stepped
References _direction, DIRECTION_CCW, DIRECTION_CW, and runSpeed().
+ +
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| void AccelStepper::runToNewPosition | +( | +long | +position | ) | ++ |
+
+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.
- Parameters
-
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+[in] position The new target position.
+
References moveTo(), and runToPosition().
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| void AccelStepper::runToPosition | +( | +) | ++ |
+
+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.
+ +References run().
+ +Referenced by runToNewPosition().
+ +
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| void AccelStepper::setAcceleration | +( | +float | +acceleration | ) | ++ |
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+Sets the acceleration/deceleration rate.
- Parameters
-
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+[in] acceleration 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
+
References computeNewSpeed().
+ +Referenced by AccelStepper().
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| void AccelStepper::setCurrentPosition | +( | +long | +position | ) | ++ |
+
+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.
- Parameters
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+[in] position The position in steps of wherever the motor happens to be right now.
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| void AccelStepper::setEnablePin | +( | +uint8_t | +enablePin = 0xff | ) | ++ |
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+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 enableOutputs() is called and switched off when disableOutputs() is called.
- Parameters
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+[in] enablePin Arduino digital pin number for motor enable
+
- See also
- setPinsInverted
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| void AccelStepper::setMaxSpeed | +( | +float | +speed | ) | ++ |
+
+Sets the maximum permitted speed. The run() function will accelerate up to the speed set by this function. Caution: the maximum speed achievable depends on your processor and clock speed.
- Parameters
-
+
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+[in] speed 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.
+
References computeNewSpeed(), and speed().
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| void AccelStepper::setMinPulseWidth | +( | +unsigned int | +minWidth | ) | ++ |
+
+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.
- Parameters
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+[in] minWidth The minimum pulse width in microseconds.
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+ +protectedvirtual | +
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+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
+ +References FULL3WIRE, FULL4WIRE, HALF3WIRE, and HALF4WIRE.
+ +Referenced by disableOutputs(), step1(), step2(), step3(), step4(), step6(), and step8().
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| void AccelStepper::setPinsInverted | +( | +bool | +directionInvert = false, |
+
| + | + | bool | +stepInvert = false, |
+
| + | + | bool | +enableInvert = false |
+
| + | ) | ++ |
+
+Sets the inversion for stepper driver pins
- Parameters
-
+
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+[in] directionInvert True for inverted direction pin, false for non-inverted [in] stepInvert True for inverted step pin, false for non-inverted [in] enableInvert True for inverted enable pin, false (default) for non-inverted
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| void AccelStepper::setPinsInverted | +( | +bool | +pin1Invert, | +
| + | + | bool | +pin2Invert, | +
| + | + | bool | +pin3Invert, | +
| + | + | bool | +pin4Invert, | +
| + | + | bool | +enableInvert | +
| + | ) | ++ |
+
+Sets the inversion for 2, 3 and 4 wire stepper pins
- Parameters
-
+
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+[in] pin1Invert True for inverted pin1, false for non-inverted [in] pin2Invert True for inverted pin2, false for non-inverted [in] pin3Invert True for inverted pin3, false for non-inverted [in] pin4Invert True for inverted pin4, false for non-inverted [in] enableInvert True for inverted enable pin, false (default) for non-inverted
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| void AccelStepper::setSpeed | +( | +float | +speed | ) | ++ |
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+Sets the desired constant speed for use with runSpeed().
- Parameters
-
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+[in] speed 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 runSpeed() function.
+
References _direction, DIRECTION_CCW, DIRECTION_CW, and speed().
+ +Referenced by MultiStepper::moveTo().
+ +
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| float AccelStepper::speed | +( | +) | ++ |
+
+The most recently set speed
- Returns
- the most recent speed in steps per second
Referenced by setMaxSpeed(), and setSpeed().
+ +
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+Called to execute a step. Only called when a new step is required. Subclasses may override to implement new stepping interfaces. The default calls step1(), step2(), step4() or step8() depending on the number of pins defined for the stepper.
- Parameters
-
+
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+[in] step The current step phase number (0 to 7)
+
References DRIVER, FULL2WIRE, FULL3WIRE, FULL4WIRE, FUNCTION, HALF3WIRE, HALF4WIRE, step0(), step1(), step2(), step3(), step4(), step6(), and step8().
+ +Referenced by runSpeed().
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+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
- Parameters
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+[in] step The current step phase number (0 to 7)
+
Referenced by step().
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+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.
- Parameters
-
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+[in] step The current step phase number (0 to 7)
+
References _direction, and setOutputPins().
+ +Referenced by step().
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+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
- Parameters
-
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+[in] step The current step phase number (0 to 7)
+
References setOutputPins().
+ +Referenced by step().
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+ +protectedvirtual | +
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+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
- Parameters
-
+
+
+[in] step The current step phase number (0 to 7)
+
References setOutputPins().
+ +Referenced by step().
+ +
+
+
+
+
+
+
+
|
+ +protectedvirtual | +
+
+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.
- Parameters
-
+
+
+[in] step The current step phase number (0 to 7)
+
References setOutputPins().
+ +Referenced by step().
+ +
+
+
+
+
+
+
+
|
+ +protectedvirtual | +
+
+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
- Parameters
-
+
+
+[in] step The current step phase number (0 to 7)
+
References setOutputPins().
+ +Referenced by step().
+ +
+
+
+
+
+
+
+
|
+ +protectedvirtual | +
+
+Called to execute a step on a 4 pin half-steper 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.
- Parameters
-
+
+
+[in] step The current step phase number (0 to 7)
+
References setOutputPins().
+ +Referenced by step().
+ +
+
+
+
+
+
+
| void AccelStepper::stop | +( | +) | ++ |
+
+Sets a new target position that causes the stepper to stop as quickly as possible, using the current speed and acceleration parameters.
+ +References move().
+ +
+
+
+
+
+
| long AccelStepper::targetPosition | +( | +) | ++ |
+
+The most recently set target position.
- Returns
- the target position in steps. Positive is clockwise from the 0 position.
Member Data Documentation
+ +
+
+
+
+
+
+
|
+ +protected | +
+
+Current direction motor is spinning in Protected because some peoples subclasses need it to be so
+ +Referenced by AccelStepper(), computeNewSpeed(), runSpeed(), runSpeedToPosition(), setSpeed(), and step1().
+ +The documentation for this class was generated from the following files:
-
+
- AccelStepper.h +
- AccelStepper.cpp +
+Generated by +
+ 1.8.11
+
+
+
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new file mode 100644
index 0000000..1425ec5
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diff --git a/02_Software/01_Arduino/libraries/AccelStepper/doc/doxygen.png b/02_Software/01_Arduino/libraries/AccelStepper/doc/doxygen.png
new file mode 100644
index 0000000..3ff17d8
Binary files /dev/null and b/02_Software/01_Arduino/libraries/AccelStepper/doc/doxygen.png differ
diff --git a/02_Software/01_Arduino/libraries/AccelStepper/doc/files.html b/02_Software/01_Arduino/libraries/AccelStepper/doc/files.html
new file mode 100644
index 0000000..0c27312
--- /dev/null
+++ b/02_Software/01_Arduino/libraries/AccelStepper/doc/files.html
@@ -0,0 +1,62 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ AccelStepper
+
+ |
+
+
+
+
+File List
+
+
+Here is a list of all documented files with brief descriptions:
++Generated by +
+ 1.8.11
+
+
+
diff --git a/02_Software/01_Arduino/libraries/AccelStepper/doc/functions.html b/02_Software/01_Arduino/libraries/AccelStepper/doc/functions.html
new file mode 100644
index 0000000..f5de038
--- /dev/null
+++ b/02_Software/01_Arduino/libraries/AccelStepper/doc/functions.html
@@ -0,0 +1,273 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ AccelStepper
+
+ |
+
+
+
+Here is a list of all documented class members with links to the class documentation for each member:
+
+- _ -
-
+
- _direction +: AccelStepper + +
- a -
-
+
- AccelStepper() +: AccelStepper + +
- addStepper() +: MultiStepper + +
- c -
-
+
- computeNewSpeed() +: AccelStepper + +
- currentPosition() +: AccelStepper + +
- d -
-
+
- Direction +: AccelStepper + +
- DIRECTION_CCW +: AccelStepper + +
- DIRECTION_CW +: AccelStepper + +
- disableOutputs() +: AccelStepper + +
- distanceToGo() +: AccelStepper + +
- DRIVER +: AccelStepper + +
- e -
-
+
- enableOutputs() +: AccelStepper + +
- f -
-
+
- FULL2WIRE +: AccelStepper + +
- FULL3WIRE +: AccelStepper + +
- FULL4WIRE +: AccelStepper + +
- FUNCTION +: AccelStepper + +
- h -
-
+
- HALF3WIRE +: AccelStepper + +
- HALF4WIRE +: AccelStepper + +
- i -
-
+
- isRunning() +: AccelStepper + +
- m -
-
+
- maxSpeed() +: AccelStepper + +
- MotorInterfaceType +: AccelStepper + +
- move() +: AccelStepper + +
- moveTo() +: AccelStepper +, MultiStepper + +
- MultiStepper() +: MultiStepper + +
- r -
-
+
- run() +: AccelStepper +, MultiStepper + +
- runSpeed() +: AccelStepper + +
- runSpeedToPosition() +: AccelStepper +, MultiStepper + +
- runToNewPosition() +: AccelStepper + +
- runToPosition() +: AccelStepper + +
- s -
-
+
- setAcceleration() +: AccelStepper + +
- setCurrentPosition() +: AccelStepper + +
- setEnablePin() +: AccelStepper + +
- setMaxSpeed() +: AccelStepper + +
- setMinPulseWidth() +: AccelStepper + +
- setOutputPins() +: AccelStepper + +
- setPinsInverted() +: AccelStepper + +
- setSpeed() +: AccelStepper + +
- speed() +: AccelStepper + +
- step() +: AccelStepper + +
- step0() +: AccelStepper + +
- step1() +: AccelStepper + +
- step2() +: AccelStepper + +
- step3() +: AccelStepper + +
- step4() +: AccelStepper + +
- step6() +: AccelStepper + +
- step8() +: AccelStepper + +
- stop() +: AccelStepper + +
- t -
-
+
- targetPosition() +: AccelStepper + +
+Generated by +
+ 1.8.11
+
+
+
diff --git a/02_Software/01_Arduino/libraries/AccelStepper/doc/functions_func.html b/02_Software/01_Arduino/libraries/AccelStepper/doc/functions_func.html
new file mode 100644
index 0000000..d087b5b
--- /dev/null
+++ b/02_Software/01_Arduino/libraries/AccelStepper/doc/functions_func.html
@@ -0,0 +1,222 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ AccelStepper
+
+ |
+
+
+
+
+
+- a -
-
+
- AccelStepper() +: AccelStepper + +
- addStepper() +: MultiStepper + +
- c -
-
+
- computeNewSpeed() +: AccelStepper + +
- currentPosition() +: AccelStepper + +
- d -
-
+
- disableOutputs() +: AccelStepper + +
- distanceToGo() +: AccelStepper + +
- e -
-
+
- enableOutputs() +: AccelStepper + +
- i -
-
+
- isRunning() +: AccelStepper + +
- m -
-
+
- maxSpeed() +: AccelStepper + +
- move() +: AccelStepper + +
- moveTo() +: AccelStepper +, MultiStepper + +
- MultiStepper() +: MultiStepper + +
- r -
-
+
- run() +: AccelStepper +, MultiStepper + +
- runSpeed() +: AccelStepper + +
- runSpeedToPosition() +: AccelStepper +, MultiStepper + +
- runToNewPosition() +: AccelStepper + +
- runToPosition() +: AccelStepper + +
- s -
-
+
- setAcceleration() +: AccelStepper + +
- setCurrentPosition() +: AccelStepper + +
- setEnablePin() +: AccelStepper + +
- setMaxSpeed() +: AccelStepper + +
- setMinPulseWidth() +: AccelStepper + +
- setOutputPins() +: AccelStepper + +
- setPinsInverted() +: AccelStepper + +
- setSpeed() +: AccelStepper + +
- speed() +: AccelStepper + +
- step() +: AccelStepper + +
- step0() +: AccelStepper + +
- step1() +: AccelStepper + +
- step2() +: AccelStepper + +
- step3() +: AccelStepper + +
- step4() +: AccelStepper + +
- step6() +: AccelStepper + +
- step8() +: AccelStepper + +
- stop() +: AccelStepper + +
- t -
-
+
- targetPosition() +: AccelStepper + +
+Generated by +
+ 1.8.11
+
+
+
diff --git a/02_Software/01_Arduino/libraries/AccelStepper/doc/index.html b/02_Software/01_Arduino/libraries/AccelStepper/doc/index.html
new file mode 100644
index 0000000..8f93728
--- /dev/null
+++ b/02_Software/01_Arduino/libraries/AccelStepper/doc/index.html
@@ -0,0 +1,217 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ AccelStepper
+
+ |
+
+
+
+
+AccelStepper library for Arduino
+
+
+This is the Arduino AccelStepper library. It provides an object-oriented interface for 2, 3 or 4 pin stepper motors and motor drivers.
+The standard Arduino IDE includes the Stepper library (http://arduino.cc/en/Reference/Stepper) for stepper motors. It is perfectly adequate for simple, single motor applications.
+AccelStepper significantly improves on the standard Arduino Stepper library in several ways:
-
+
- Supports acceleration and deceleration +
- Supports multiple simultaneous steppers, with independent concurrent stepping on each stepper +
- API functions never delay() or block +
- Supports 2, 3 and 4 wire steppers, plus 3 and 4 wire half steppers. +
- Supports alternate stepping functions to enable support of AFMotor (https://github.com/adafruit/Adafruit-Motor-Shield-library) +
- Supports stepper drivers such as the Sparkfun EasyDriver (based on 3967 driver chip) +
- Very slow speeds are supported +
- Extensive API +
- Subclass support +
The latest version of this documentation can be downloaded from http://www.airspayce.com/mikem/arduino/AccelStepper The version of the package that this documentation refers to can be downloaded from http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.57.zip
+Example Arduino programs are included to show the main modes of use.
+You can also find online help and discussion at http://groups.google.com/group/accelstepper 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
-
+
- http://en.wikipedia.org/wiki/Wikipedia:Reference_desk/How_to_ask_a_software_question +
- http://www.catb.org/esr/faqs/smart-questions.html +
- http://www.chiark.greenend.org.uk/~shgtatham/bugs.html +
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 http://www.pjrc.com/teensy including Teensy 3.1 built using Arduino IDE 1.0.5 with teensyduino addon 1.18 and later.
+- Installation
Install in the usual way: unzip the distribution zip file to the libraries sub-folder of your sketchbook.
+- Theory
This code uses speed calculations as described in "Generate stepper-motor speed profiles in real time" by David Austin http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf or http://www.embedded.com/design/mcus-processors-and-socs/4006438/Generate-stepper-motor-speed-profiles-in-real-time or http://web.archive.org/web/20140705143928/http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf with the exception that AccelStepper 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.
+- Adafruit Motor Shield V2
The included examples AFMotor_* are for Adafruit Motor Shield V1 and do not work with Adafruit Motor Shield V2. See https://github.com/adafruit/Adafruit_Motor_Shield_V2_Library for examples that work with Adafruit Motor Shield V2.
+- Donations
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 http://www.airspayce.com or here:
++
- Trademarks
AccelStepper is a trademark of AirSpayce Pty Ltd. The AccelStepper 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.
+- Copyright
This software is Copyright (C) 2010 Mike McCauley. Use is subject to license conditions. The main licensing options available are GPL V2 or Commercial:
+- Open Source Licensing GPL V2
- 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 2 when your application is distributed. See https://www.gnu.org/licenses/gpl-2.0.html
- Commercial Licensing
- 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. Purchase commercial licenses at http://airspayce.binpress.com/
- Revision History
- Version
- 1.0 Initial release +
- +1.1 Added speed() function to get the current speed. +
- +1.2 Added runSpeedToPosition() submitted by Gunnar Arndt. +
- +1.3 Added support for stepper drivers (ie with Step and Direction inputs) with _pins == 1 +
- +1.4 Added functional contructor to support AFMotor, contributed by Limor, with example sketches. +
- +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. +
- +1.6 Fixed a problem with wrapping of microsecond stepping that could cause stepping to hang. Reported by Sandy Noble. Removed redundant _lastRunTime member. +
- +1.7 Fixed a bug where setCurrentPosition() did not always work as expected. Reported by Peter Linhart. +
- +1.8 Added support for 4 pin half-steppers, requested by Harvey Moon +
- +1.9 setCurrentPosition() now also sets motor speed to 0. +
- +1.10 Builds on Arduino 1.0 +
- +1.11 Improvments from Michael Ellison: Added optional enable line support for stepper drivers Added inversion for step/direction/enable lines for stepper drivers +
- +1.12 Announce Google Group +
- +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. +
- +1.14 Fixed a problem with compiling under arduino 0021 reported by EmbeddedMan +
- +1.15 Fixed a problem with runSpeedToPosition which did not correctly handle running backwards to a smaller target position. Added examples +
- +1.16 Fixed some cases in the code where abs() was used instead of fabs(). +
- +1.17 Added example ProportionalControl +
- +1.18 Fixed a problem: If one calls the funcion runSpeed() when Speed is zero, it makes steps without counting. reported by Friedrich, Klappenbach. +
- +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. +
- +1.20 Improved documentation and examples to show need for correctly specifying AccelStepper::FULL4WIRE and friends. +
- +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 +
- +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. +
- +1.23 Rewrite of the speed algorithms in line with http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf Now expect smoother and more linear accelerations and decelerations. The desiredSpeed() function was removed. +
- +1.24 Fixed a problem introduced in 1.23: with runToPosition, which did never returned +
- +1.25 Now ignore attempts to set acceleration to 0.0 +
- +1.26 Fixed a problem where certina combinations of speed and accelration could cause oscillation about the target position. +
- +1.27 Added stop() function to stop as fast as possible with current acceleration parameters. Also added new Quickstop example showing its use. +
- +1.28 Fixed another problem where certain combinations of speed and accelration 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. +
- +1.29 Fixed a problem that could cause a DRIVER stepper to continually step with some sketches. Reported by Vadim. +
- +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. +
- +1.31 Updated author and distribution location details to airspayce.com +
- +1.32 Fixed a problem with enableOutputs() and setEnablePin on Arduino Due that prevented the enable pin changing stae correctly. Reported by Duane Bishop. +
- +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. +
- +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. +
- +1.35 Removed default args from setPinsInverted(bool, bool, bool, bool, bool) to prevent ambiguity with setPinsInverted(bool, bool, bool). Reported by Mac Mac. +
- +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. +
- +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. +
- +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. +
- +1.39 Updated typos in keywords.txt, courtesey Jon Magill. +
- +1.40 Updated documentation, including testing on Teensy 3.1 +
- +1.41 Fixed an error in the acceleration calculations, resulting in acceleration of haldf the intended value +
-
+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.
+
+ -
+1.43 Added DualMotorShield example. Shows how to use AccelStepper to control 2 x 2 phase steppers using the Itead Studio Arduino Dual Stepper Motor Driver Shield model IM120417015.
+
+ -
+1.44 examples/DualMotorShield/DualMotorShield.ino examples/DualMotorShield/DualMotorShield.pde was missing from the distribution.
+
+ -
+1.45 Fixed a problem where if setAcceleration was not called, there was no default acceleration. Reported by Michael Newman.
+
+ -
+1.45 Fixed inaccuracy in acceleration rate by using Equation 15, suggested by Sebastian Gracki.
+ Performance improvements in runSpeed suggested by Jaakko Fagerlund.
+
+ -
+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.
+
+ -
+1.48 2015-08-25 Added new class MultiStepper 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.
+ Added new method maxSpeed() to AccelStepper to return the currently configured maxSpeed.
+
+ -
+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.
+ Added isRunning().
+
+ -
+1.50 2016-02-25 AccelStepper::disableOutputs now sets the enable pion to OUTPUT mode if the enable pin is defined. Patch from Piet De Jong.
+ Added notes about the fact that AFMotor_* examples do not work with Adafruit Motor Shield V2.
+
+ - +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. +
- +1.52 2016-08-09 Added MultiStepper to keywords.txt. Improvements to efficiency of AccelStepper::runSpeed() as suggested by David Grayson. Improvements to speed accuracy as suggested by David Grayson. +
- +1.53 2016-08-14 Backed out Improvements to speed accuracy from 1.52 as it did not work correctly. +
- +1.54 2017-01-24 Fixed some warnings about unused arguments. +
- +1.55 2017-01-25 Fixed another warning in MultiStepper.cpp +
- +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. +
- +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.
+Generated by +
+ 1.8.11
+
+
+
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diff --git a/02_Software/01_Arduino/libraries/AccelStepper/examples/AFMotor_ConstantSpeed/AFMotor_ConstantSpeed.pde b/02_Software/01_Arduino/libraries/AccelStepper/examples/AFMotor_ConstantSpeed/AFMotor_ConstantSpeed.pde
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+++ b/02_Software/01_Arduino/libraries/AccelStepper/examples/AFMotor_ConstantSpeed/AFMotor_ConstantSpeed.pde
@@ -0,0 +1,40 @@
+// AFMotor_ConstantSpeed.pde
+// -*- mode: C++ -*-
+//
+// Shows how to run AccelStepper in the simplest,
+// fixed speed mode with no accelerations
+// Requires the AFMotor library
+// (https://github.com/adafruit/Adafruit-Motor-Shield-library)
+// Caution, does not work with Adafruit Motor Shield V2
+// See https://github.com/adafruit/Adafruit_Motor_Shield_V2_Library
+// for examples that work with Adafruit Motor Shield V2.
+
+#include