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Fork of
Easyspin_lib
by 
Julien Tiron
Shield control functions
Functions | |
| void | AttachFlagInterrupt (void(*callback)(void)) |
| Attaches a user callback to the flag Interrupt The call back will be then called each time the status flag pin will be pulled down due to the occurrence of a programmed alarms ( OCD, thermal pre-warning or shutdown, UVLO, wrong command, non-performable command) | |
| void | Begin (uint8_t nbShields) |
| Starts the Easyspin library. | |
| uint16_t | GetAcceleration (uint8_t shieldId) |
| Returns the acceleration of the specified shield. | |
| uint16_t | GetCurrentSpeed (uint8_t shieldId) |
| Returns the current speed of the specified shield. | |
| uint16_t | GetDeceleration (uint8_t shieldId) |
| Returns the deceleration of the specified shield. | |
| shieldState_t | GetShieldState (uint8_t shieldId) |
| Returns the shield state. | |
| uint8_t | GetFwVersion (void) |
| Returns the FW version of the library. | |
| int32_t | GetMark (uint8_t shieldId) |
| Returns the mark position of the specified shield. | |
| uint16_t | GetMaxSpeed (uint8_t shieldId) |
| Returns the max speed of the specified shield. | |
| uint16_t | GetMinSpeed (uint8_t shieldId) |
| Returns the min speed of the specified shield. | |
| int32_t | GetPosition (uint8_t shieldId) |
| Returns the ABS_POSITION of the specified shield. | |
| void | GoHome (uint8_t shieldId) |
| Requests the motor to move to the home position (ABS_POSITION = 0) | |
| void | GoMark (uint8_t shieldId) |
| Requests the motor to move to the mark position. | |
| void | GoTo (uint8_t shieldId, int32_t targetPosition) |
| Requests the motor to move to the specified position. | |
| void | HardStop (uint8_t shieldId) |
| Immediatly stops the motor and disable the power bridge. | |
| void | Move (uint8_t shieldId, dir_t direction, uint32_t stepCount) |
| Moves the motor of the specified number of steps. | |
| void | ResetAllShields (void) |
| Resets all Easyspin shields. | |
| void | Run (uint8_t shieldId, dir_t direction) |
| Runs the motor. | |
| bool | SetAcceleration (uint8_t shieldId, uint16_t newAcc) |
| Changes the acceleration of the specified shield. | |
| bool | SetDeceleration (uint8_t shieldId, uint16_t newDec) |
| Changes the deceleration of the specified shield. | |
| void | SetHome (uint8_t shieldId) |
| Set current position to be the Home position (ABS pos set to 0) | |
| void | SetMark (uint8_t shieldId) |
| Sets current position to be the Mark position. | |
| bool | SetMaxSpeed (uint8_t shieldId, uint16_t newMaxSpeed) |
| Changes the max speed of the specified shield. | |
| bool | SetMinSpeed (uint8_t shieldId, uint16_t newMinSpeed) |
| Changes the min speed of the specified shield. | |
| bool | SoftStop (uint8_t shieldId) |
| Stops the motor by using the shield deceleration. | |
| void | WaitWhileActive (uint8_t shieldId) |
| Locks until the shield state becomes Inactive. | |
| void | Turn (rot_t rotation, uint16_t angle) |
| Turn left or right with the specified angle. | |
| void | Move_cm (dir_t direction, uint16_t distance) |
| Move forward or backward with the specified distance. | |
Function Documentation
| void AttachFlagInterrupt | ( | void(*)(void) | callback ) | [inherited] |
Attaches a user callback to the flag Interrupt The call back will be then called each time the status flag pin will be pulled down due to the occurrence of a programmed alarms ( OCD, thermal pre-warning or shutdown, UVLO, wrong command, non-performable command)
- Parameters:
-
[in] callback Name of the callback to attach to the Flag Interrupt
- Return values:
-
None
Definition at line 54 of file easyspin.cpp.
| void Begin | ( | uint8_t | nbShields ) | [inherited] |
Starts the Easyspin library.
- Parameters:
-
[in] nbShields Number of Easyspin shields to use (from 1 to 3)
- Return values:
-
None
Definition at line 64 of file easyspin.cpp.
| uint16_t GetAcceleration | ( | uint8_t | shieldId ) | [inherited] |
Returns the acceleration of the specified shield.
- Parameters:
-
[in] shieldId (from 0 to 2)
- Return values:
-
Acceleration in pps^2
Definition at line 118 of file easyspin.cpp.
| uint16_t GetCurrentSpeed | ( | uint8_t | shieldId ) | [inherited] |
Returns the current speed of the specified shield.
- Parameters:
-
[in] shieldId (from 0 to 2)
- Return values:
-
Speed in pps
Definition at line 128 of file easyspin.cpp.
| uint16_t GetDeceleration | ( | uint8_t | shieldId ) | [inherited] |
Returns the deceleration of the specified shield.
- Parameters:
-
[in] shieldId (from 0 to 2)
- Return values:
-
Deceleration in pps^2
Definition at line 138 of file easyspin.cpp.
| uint8_t GetFwVersion | ( | void | ) | [inherited] |
Returns the FW version of the library.
- Parameters:
-
None
- Return values:
-
Easyspin_FW_VERSION
Definition at line 148 of file easyspin.cpp.
| int32_t GetMark | ( | uint8_t | shieldId ) | [inherited] |
Returns the mark position of the specified shield.
- Parameters:
-
[in] shieldId (from 0 to 2)
- Return values:
-
Mark register value converted in a 32b signed integer
Definition at line 158 of file easyspin.cpp.
| uint16_t GetMaxSpeed | ( | uint8_t | shieldId ) | [inherited] |
Returns the max speed of the specified shield.
- Parameters:
-
[in] shieldId (from 0 to 2)
- Return values:
-
maxSpeed in pps
Definition at line 168 of file easyspin.cpp.
| uint16_t GetMinSpeed | ( | uint8_t | shieldId ) | [inherited] |
Returns the min speed of the specified shield.
- Parameters:
-
[in] shieldId (from 0 to 2)
- Return values:
-
minSpeed in pps
Definition at line 178 of file easyspin.cpp.
| int32_t GetPosition | ( | uint8_t | shieldId ) | [inherited] |
Returns the ABS_POSITION of the specified shield.
- Parameters:
-
[in] shieldId (from 0 to 2)
- Return values:
-
ABS_POSITION register value converted in a 32b signed integer
Definition at line 188 of file easyspin.cpp.
| shieldState_t GetShieldState | ( | uint8_t | shieldId ) | [inherited] |
Returns the shield state.
- Parameters:
-
[in] shieldId (from 0 to 2)
- Return values:
-
State (ACCELERATING, DECELERATING, STEADY or INACTIVE)
Definition at line 198 of file easyspin.cpp.
| void GoHome | ( | uint8_t | shieldId ) | [inherited] |
Requests the motor to move to the home position (ABS_POSITION = 0)
- Parameters:
-
[in] shieldId (from 0 to 2)
- Return values:
-
None
Definition at line 208 of file easyspin.cpp.
| void GoMark | ( | uint8_t | shieldId ) | [inherited] |
Requests the motor to move to the mark position.
- Parameters:
-
[in] shieldId (from 0 to 2)
- Return values:
-
None
Definition at line 218 of file easyspin.cpp.
| void GoTo | ( | uint8_t | shieldId, |
| int32_t | targetPosition | ||
| ) | [inherited] |
Requests the motor to move to the specified position.
- Parameters:
-
[in] shieldId (from 0 to 2) [in] targetPosition absolute position in steps
- Return values:
-
None
Definition at line 232 of file easyspin.cpp.
| void HardStop | ( | uint8_t | shieldId ) | [inherited] |
Immediatly stops the motor and disable the power bridge.
- Parameters:
-
[in] shieldId (from 0 to 2)
- Return values:
-
None
Definition at line 276 of file easyspin.cpp.
| void Move | ( | uint8_t | shieldId, |
| dir_t | direction, | ||
| uint32_t | stepCount | ||
| ) | [inherited] |
Moves the motor of the specified number of steps.
- Parameters:
-
[in] shieldId (from 0 to 2) [in] direction FORWARD or BACKWARD [in] stepCount Number of steps to perform
- Return values:
-
None
Definition at line 301 of file easyspin.cpp.
| void Move_cm | ( | dir_t | direction, |
| uint16_t | distance | ||
| ) | [inherited] |
Move forward or backward with the specified distance.
- Parameters:
-
[in] direction FORWARD or BACKWARD [in] distance in cm
- Return values:
-
None
Definition at line 350 of file easyspin.cpp.
| void ResetAllShields | ( | void | ) | [inherited] |
Resets all Easyspin shields.
- Parameters:
-
None
- Return values:
-
None
Definition at line 367 of file easyspin.cpp.
| void Run | ( | uint8_t | shieldId, |
| dir_t | direction | ||
| ) | [inherited] |
Runs the motor.
It will accelerate from the min speed up to the max speed by using the shield acceleration.
- Parameters:
-
[in] shieldId (from 0 to 2) [in] direction FORWARD or BACKWARD
- Return values:
-
None
Definition at line 387 of file easyspin.cpp.
| bool SetAcceleration | ( | uint8_t | shieldId, |
| uint16_t | newAcc | ||
| ) | [inherited] |
Changes the acceleration of the specified shield.
- Parameters:
-
[in] shieldId (from 0 to 2) [in] newAcc New acceleration to apply in pps^2
- Return values:
-
true if the command is successfully executed, else false
- Note:
- The command is not performed is the shield is executing a MOVE or GOTO command (but it can be used during a RUN command)
Definition at line 411 of file easyspin.cpp.
| bool SetDeceleration | ( | uint8_t | shieldId, |
| uint16_t | newDec | ||
| ) | [inherited] |
Changes the deceleration of the specified shield.
- Parameters:
-
[in] shieldId (from 0 to 2) [in] newDec New deceleration to apply in pps^2
- Return values:
-
true if the command is successfully executed, else false
- Note:
- The command is not performed is the shield is executing a MOVE or GOTO command (but it can be used during a RUN command)
Definition at line 431 of file easyspin.cpp.
| void SetHome | ( | uint8_t | shieldId ) | [inherited] |
Set current position to be the Home position (ABS pos set to 0)
- Parameters:
-
[in] shieldId (from 0 to 2)
- Return values:
-
None
Definition at line 448 of file easyspin.cpp.
| void SetMark | ( | uint8_t | shieldId ) | [inherited] |
Sets current position to be the Mark position.
- Parameters:
-
[in] shieldId (from 0 to 2)
- Return values:
-
None
Definition at line 458 of file easyspin.cpp.
| bool SetMaxSpeed | ( | uint8_t | shieldId, |
| uint16_t | newMaxSpeed | ||
| ) | [inherited] |
Changes the max speed of the specified shield.
- Parameters:
-
[in] shieldId (from 0 to 2) [in] newMaxSpeed New max speed to apply in pps
- Return values:
-
true if the command is successfully executed, else false
- Note:
- The command is not performed is the shield is executing a MOVE or GOTO command (but it can be used during a RUN command).
Definition at line 472 of file easyspin.cpp.
| bool SetMinSpeed | ( | uint8_t | shieldId, |
| uint16_t | newMinSpeed | ||
| ) | [inherited] |
Changes the min speed of the specified shield.
- Parameters:
-
[in] shieldId (from 0 to 2) [in] newMinSpeed New min speed to apply in pps
- Return values:
-
true if the command is successfully executed, else false
- Note:
- The command is not performed is the shield is executing a MOVE or GOTO command (but it can be used during a RUN command).
Definition at line 494 of file easyspin.cpp.
| bool SoftStop | ( | uint8_t | shieldId ) | [inherited] |
Stops the motor by using the shield deceleration.
- Parameters:
-
[in] shieldId (from 0 to 2)
- Return values:
-
true if the command is successfully executed, else false
- Note:
- The command is not performed is the shield is in INACTIVE state.
Definition at line 514 of file easyspin.cpp.
| void Turn | ( | rot_t | rotation, |
| uint16_t | angle | ||
| ) | [inherited] |
Turn left or right with the specified angle.
- Parameters:
-
[in] rotation RIGHT or LEFT [in] angle in degrees
- Return values:
-
None
Definition at line 332 of file easyspin.cpp.
| void WaitWhileActive | ( | uint8_t | shieldId ) | [inherited] |
Locks until the shield state becomes Inactive.
- Parameters:
-
[in] shieldId (from 0 to 2)
- Return values:
-
None
Definition at line 529 of file easyspin.cpp.
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