aircord
test2017-1-13
Dependencies: AT24C1024 DMX-STM32 mbed
Diff: AccelStepper.h
- Revision:
- 4:c3f3fdde7eee
- Parent:
- 0:d94213e24c2e
--- a/AccelStepper.h Thu Mar 02 09:03:40 2017 +0000
+++ b/AccelStepper.h Fri Mar 24 13:00:34 2017 +0000
@@ -22,49 +22,49 @@
/// \li Extensive API
/// \li Subclass support
///
-/// The latest version of this documentation can be downloaded from
+/// 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
+/// The version of the package that this documentation refers to can be downloaded
/// from http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.47.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.
+/// 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://www.catb.org/esr/faqs/smart-questions.html
///
-/// Tested on Arduino Diecimila and Mega with arduino-0018 & arduino-0021
+/// 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
+/// 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.
///
/// \par Installation
///
/// Install in the usual way: unzip the distribution zip file to the libraries
-/// sub-folder of your sketchbook.
+/// sub-folder of your sketchbook.
///
/// \par Theory
///
-/// This code uses speed calculations as described in
-/// "Generate stepper-motor speed profiles in real time" by David Austin
+/// 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
/// 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 subsequent steps, shorter step intervals are calculated based
/// on the previous step until max speed is achieved.
-///
+///
/// \par Donations
///
-/// This library is offered under a free GPL license for those who want to use it that way.
+/// 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:
///
/// \htmlonly <form action="https://www.paypal.com/cgi-bin/webscr" method="post"><input type="hidden" name="cmd" value="_donations" /> <input type="hidden" name="business" value="mikem@airspayce.com" /> <input type="hidden" name="lc" value="AU" /> <input type="hidden" name="item_name" value="Airspayce" /> <input type="hidden" name="item_number" value="AccelStepper" /> <input type="hidden" name="currency_code" value="USD" /> <input type="hidden" name="bn" value="PP-DonationsBF:btn_donateCC_LG.gif:NonHosted" /> <input type="image" alt="PayPal — The safer, easier way to pay online." name="submit" src="https://www.paypalobjects.com/en_AU/i/btn/btn_donateCC_LG.gif" /> <img alt="" src="https://www.paypalobjects.com/en_AU/i/scr/pixel.gif" width="1" height="1" border="0" /></form> \endhtmlonly
-///
+///
/// \par Trademarks
///
/// AccelStepper is a trademark of AirSpayce Pty Ltd. The AccelStepper mark was first used on April 26 2010 for
@@ -83,7 +83,7 @@
/// 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 http://www.gnu.org/copyleft/gpl.html
-///
+///
/// \par 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
@@ -98,11 +98,11 @@
/// \version 1.4 Added functional contructor to support AFMotor, contributed by Limor, with example sketches.
/// \version 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.
-/// \version 1.6 Fixed a problem with wrapping of microsecond stepping that could cause stepping to hang.
+/// Added checks for already running at max speed and skip further calcs if so.
+/// \version 1.6 Fixed a problem with wrapping of microsecond stepping that could cause stepping to hang.
/// Reported by Sandy Noble.
/// Removed redundant _lastRunTime member.
-/// \version 1.7 Fixed a bug where setCurrentPosition() did not always work as expected.
+/// \version 1.7 Fixed a bug where setCurrentPosition() did not always work as expected.
/// Reported by Peter Linhart.
/// \version 1.8 Added support for 4 pin half-steppers, requested by Harvey Moon
/// \version 1.9 setCurrentPosition() now also sets motor speed to 0.
@@ -111,16 +111,16 @@
/// Added optional enable line support for stepper drivers
/// Added inversion for step/direction/enable lines for stepper drivers
/// \version 1.12 Announce Google Group
-/// \version 1.13 Improvements to speed calculation. Cost of calculation is now less in the worst case,
+/// \version 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.
+/// 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.
/// \version 1.14 Fixed a problem with compiling under arduino 0021 reported by EmbeddedMan
/// \version 1.15 Fixed a problem with runSpeedToPosition which did not correctly handle
/// running backwards to a smaller target position. Added examples
/// \version 1.16 Fixed some cases in the code where abs() was used instead of fabs().
/// \version 1.17 Added example ProportionalControl
-/// \version 1.18 Fixed a problem: If one calls the funcion runSpeed() when Speed is zero, it makes steps
+/// \version 1.18 Fixed a problem: If one calls the funcion runSpeed() when Speed is zero, it makes steps
/// without counting. reported by Friedrich, Klappenbach.
/// \version 1.19 Added MotorInterfaceType and symbolic names for the number of pins to use
/// for the motor interface. Updated examples to suit.
@@ -136,11 +136,11 @@
/// when _speed was small but non-zero. Reported by Brian Schmalz.
/// Precompute sqrt_twoa to improve performance and max possible stepping speed
/// \version 1.22 Added Bounce.pde example
-/// Fixed a problem where calling moveTo(), setMaxSpeed(), setAcceleration() more
+/// 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
+/// 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.
-/// \version 1.23 Rewrite of the speed algorithms in line with
+/// \version 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.
@@ -166,25 +166,25 @@
/// 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.
-/// \version 1.34 Added setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert)
+/// \version 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.
-/// \version 1.35 Removed default args from setPinsInverted(bool, bool, bool, bool, bool) to prevent ambiguity with
+/// \version 1.35 Removed default args from setPinsInverted(bool, bool, bool, bool, bool) to prevent ambiguity with
/// setPinsInverted(bool, bool, bool). Reported by Mac Mac.
/// \version 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
+/// Added new optional argument 'enable' to constructor, which allows you toi disable the
/// automatic enabling of outputs at construction time. Suggested by Guido.
-/// \version 1.37 Fixed a problem with step1 that could cause a rogue step in the
+/// \version 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).
+/// depending on the setup-time requirements of the connected hardware).
/// Reported by Mark Tillotson.
-/// \version 1.38 run() function incorrectly always returned true. Updated function and doc so it returns true
+/// \version 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.
/// \version 1.39 Updated typos in keywords.txt, courtesey Jon Magill.
/// \version 1.40 Updated documentation, including testing on Teensy 3.1
/// \version 1.41 Fixed an error in the acceleration calculations, resulting in acceleration of haldf the intended value
/// \version 1.42 Improved support for FULL3WIRE and HALF3WIRE output pins. These changes were in Yuri's original
/// contribution but did not make it into production.<br>
-/// \version 1.43 Added DualMotorShield example. Shows how to use AccelStepper to control 2 x 2 phase steppers using the
+/// \version 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.<br>
/// \version 1.44 examples/DualMotorShield/DualMotorShield.ino examples/DualMotorShield/DualMotorShield.pde
/// was missing from the distribution.<br>
@@ -193,7 +193,7 @@
/// \version 1.45 Fixed inaccuracy in acceleration rate by using Equation 15, suggested by Sebastian Gracki.<br>
/// Performance improvements in runSpeed suggested by Jaakko Fagerlund.<br>
/// \version 1.46 Fixed error in documentation for runToPosition().
-/// Reinstated time calculations in runSpeed() since new version is reported
+/// Reinstated time calculations in runSpeed() since new version is reported
/// not to work correctly under some circumstances. Reported by Oleg V Gavva.<br>
///
@@ -226,8 +226,8 @@
///
/// 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.
+/// simultaneous steppers are supported, all moving
+/// at different speeds and accelerations.
///
/// \par Operation
/// This module operates by computing a step time in microseconds. The step
@@ -246,15 +246,15 @@
///
/// \par Caveats
/// This is an open loop controller: If the motor stalls or is oversped,
-/// AccelStepper will not have a correct
+/// 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).
///
/// \par 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.
+/// 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
@@ -265,18 +265,17 @@
{
public:
/// \brief Symbolic names for number of pins.
- /// Use this in the pins argument the AccelStepper constructor to
+ /// Use this in the pins argument the AccelStepper constructor to
/// provide a symbolic name for the number of pins
/// to use.
- typedef enum
- {
- FUNCTION = 0, ///< Use the functional interface, implementing your own driver functions (internal use only)
- DRIVER = 1, ///< Stepper Driver, 2 driver pins required
- FULL2WIRE = 2, ///< 2 wire stepper, 2 motor pins required
- FULL3WIRE = 3, ///< 3 wire stepper, such as HDD spindle, 3 motor pins required
+ typedef enum {
+ FUNCTION = 0, ///< Use the functional interface, implementing your own driver functions (internal use only)
+ DRIVER = 1, ///< Stepper Driver, 2 driver pins required
+ FULL2WIRE = 2, ///< 2 wire stepper, 2 motor pins required
+ FULL3WIRE = 3, ///< 3 wire stepper, such as HDD spindle, 3 motor pins required
FULL4WIRE = 4, ///< 4 wire full stepper, 4 motor pins required
- HALF3WIRE = 6, ///< 3 wire half stepper, such as HDD spindle, 3 motor pins required
- HALF4WIRE = 8 ///< 4 wire half stepper, 4 motor pins required
+ HALF3WIRE = 6, ///< 3 wire half stepper, such as HDD spindle, 3 motor pins required
+ HALF4WIRE = 8 ///< 4 wire half stepper, 4 motor pins required
} MotorInterfaceType;
/// Constructor. You can have multiple simultaneous steppers, all moving
@@ -286,21 +285,21 @@
/// The motor pins will be initialised to OUTPUT mode during the
/// constructor by a call to enableOutputs().
/// \param[in] interface Number of pins to interface to. 1, 2, 4 or 8 are
- /// supported, but it is preferred to use the \ref MotorInterfaceType symbolic names.
+ /// supported, but it is preferred to use the \ref 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::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.
/// \param[in] pin1 Arduino digital pin number for motor pin 1. Defaults
- /// to pin 2. For a AccelStepper::DRIVER (interface==1),
+ /// to pin 2. For a AccelStepper::DRIVER (interface==1),
/// this is the Step input to the driver. Low to high transition means to step)
/// \param[in] pin2 Arduino digital pin number for motor pin 2. Defaults
- /// to pin 3. For a AccelStepper::DRIVER (interface==1),
+ /// to pin 3. For a AccelStepper::DRIVER (interface==1),
/// this is the Direction input the driver. High means forward.
/// \param[in] pin3 Arduino digital pin number for motor pin 3. Defaults
/// to pin 4.
@@ -309,9 +308,9 @@
/// \param[in] enable If this is true (the default), enableOutputs() will be called to enable
/// the output pins at construction time.
// 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(uint8_t interface, PinName pin1 = LED1, PinName pin2 = LED2, PinName pin3 = LED3, PinName pin4 = LED4, bool enable = true);
+ AccelStepper(uint8_t interface, PinName pin1 = LED1, PinName pin2 = LED2, PinName pin3 = LED3, PinName pin4 = LED4, bool enable = true);
- /// Alternate Constructor which will call your own functions for forward and backward steps.
+ /// 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
@@ -320,14 +319,16 @@
/// \param[in] forward void-returning procedure that will make a forward step
/// \param[in] backward void-returning procedure that will make a backward step
AccelStepper(void (*forward)(), void (*backward)());
-
+
/// 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.
+ /// 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().
/// \param[in] absolute The desired absolute position. Negative is
/// anticlockwise from the 0 position.
- void moveTo(long absolute);
+ void moveTo(long absolute);
+
+ void newSpeed();
/// Set the target position relative to the current position
/// \param[in] relative The desired position relative to the current position. Negative is
@@ -358,7 +359,7 @@
/// Sets the acceleration/deceleration rate.
/// \param[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
+ /// 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
void setAcceleration(float acceleration);
@@ -387,7 +388,7 @@
/// The currently motor position.
/// \return the current motor position
/// in steps. Positive is clockwise from the 0 position.
- long currentPosition();
+ long currentPosition();
/// 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
@@ -396,9 +397,9 @@
/// Has the side effect of setting the current motor speed to 0.
/// \param[in] position The position in steps of wherever the motor
/// happens to be right now.
- void setCurrentPosition(long position);
-
- /// Moves the motor (with acceleration/deceleration)
+ void setCurrentPosition(long position);
+
+ /// 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.
void runToPosition();
@@ -430,16 +431,16 @@
/// mode. Called automatically by the constructor.
virtual void enableOutputs();
- /// Sets the minimum pulse width allowed by the stepper driver. The minimum practical pulse width is
+ /// 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.
- /// \param[in] minWidth The minimum pulse width in microseconds.
+ /// \param[in] minWidth The minimum pulse width in microseconds.
void setMinPulseWidth(unsigned int minWidth);
/// 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()
+ /// Otherwise, if a pin is set, the pin will be turned on when
+ /// enableOutputs() is called and switched off when disableOutputs()
/// is called.
/// \param[in] enablePin Arduino digital pin number for motor enable
/// \sa setPinsInverted
@@ -460,16 +461,15 @@
void setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert);
protected:
- DigitalOut *_pin0;
- DigitalOut *_pin1;
- DigitalOut *_pin2;
- DigitalOut *_pin3;
+ DigitalOut *_pin0;
+ DigitalOut *_pin1;
+ DigitalOut *_pin2;
+ DigitalOut *_pin3;
/// \brief Direction indicator
/// Symbolic names for the direction the motor is turning
- typedef enum
- {
- DIRECTION_CCW = 0, ///< Clockwise
+ typedef enum {
+ DIRECTION_CCW = 0, ///< Clockwise
DIRECTION_CW = 1 ///< Counter-Clockwise
} Direction;
@@ -504,7 +504,7 @@
/// 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,
+ /// 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.
/// \param[in] step The current step phase number (0 to 7)
@@ -597,7 +597,7 @@
/// Enable pin for stepper driver, or 0xFF if unused.
//uint8_t _enablePin;
- DigitalOut *_enablePin;
+ DigitalOut *_enablePin;
/// The pointer to a forward-step procedure
void (*_forward)();
@@ -627,7 +627,7 @@
/// @example Overshoot.pde
/// Check overshoot handling
-/// which sets a new target position and then waits until the stepper has
+/// which sets a new target position and then waits until the stepper has
/// achieved it. This is used for testing the handling of overshoots
/// @example MultiStepper.pde
@@ -639,14 +639,14 @@
/// Shows how to run AccelStepper in the simplest,
/// fixed speed mode with no accelerations
-/// @example Blocking.pde
+/// @example Blocking.pde
/// Shows how to use the blocking call runToNewPosition
-/// Which sets a new target position and then waits until the stepper has
+/// Which sets a new target position and then waits until the stepper has
/// achieved it.
/// @example AFMotor_MultiStepper.pde
/// Control both Stepper motors at the same time with different speeds
-/// and accelerations.
+/// and accelerations.
/// @example AFMotor_ConstantSpeed.pde
/// Shows how to run AccelStepper in the simplest,
@@ -654,7 +654,7 @@
/// @example ProportionalControl.pde
/// Make a single stepper follow the analog value read from a pot or whatever
-/// The stepper will move at a constant speed to each newly set posiiton,
+/// The stepper will move at a constant speed to each newly set posiiton,
/// depending on the value of the pot.
/// @example Bounce.pde
@@ -672,8 +672,8 @@
/// using the Adafruit Motor Shield http://www.ladyada.net/make/mshield/index.html.
/// @example DualMotorShield.pde
-/// Shows how to use AccelStepper to control 2 x 2 phase steppers using the
+/// Shows how to use AccelStepper to control 2 x 2 phase steppers using the
/// Itead Studio Arduino Dual Stepper Motor Driver Shield
/// model IM120417015
-#endif
\ No newline at end of file
+#endif
\ No newline at end of file