Yuliya Smirnova
Библиотека для работы с шаговым двигателем
Dependents: Delta_Robot_2018 Speed_Control
Revision 0:deef8c36d17a, committed 2018-05-07
- Comitter:
- yuliyasm
- Date:
- Mon May 07 11:39:53 2018 +0000
- Commit message:
- 4
Changed in this revision
| AccelStepper.cpp | Show annotated file Show diff for this revision Revisions of this file |
| AccelStepper.h | Show annotated file Show diff for this revision Revisions of this file |
diff -r 000000000000 -r deef8c36d17a AccelStepper.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/AccelStepper.cpp Mon May 07 11:39:53 2018 +0000
@@ -0,0 +1,651 @@
+// AccelStepper.cpp
+//
+// Copyright (C) 2009-2013 Mike McCauley
+// $Id: AccelStepper.cpp,v 1.19 2014/10/31 06:05:27 mikem Exp mikem $
+
+#include "AccelStepper.h"
+
+#if 0
+// Some debugging assistance
+void dump(uint8_t* p, int l)
+{
+ int i;
+
+ for (i = 0; i < l; i++)
+ {
+ Serial.print(p[i], HEX);
+ Serial.print(" ");
+ }
+ Serial.println("");
+}
+#endif
+
+void AccelStepper::moveTo(long absolute)
+{
+ if (_targetPos != absolute)
+ {
+ _targetPos = absolute;
+ computeNewSpeed();
+ // compute new n?
+ }
+}
+
+void AccelStepper::move(long relative)
+{
+ moveTo(_currentPos + relative);
+}
+
+// Implements steps according to the current step interval
+// You must call this at least once per step
+// returns true if a step occurred
+bool AccelStepper::runSpeed()
+{
+ extern Timer t;
+ // Dont do anything unless we actually have a step interval
+ if (!_stepInterval)
+ return false;
+
+ //unsigned long time = micros();
+ unsigned long time = t.read_us();
+ unsigned long nextStepTime = _lastStepTime + _stepInterval;
+ // Gymnastics to detect wrapping of either the nextStepTime and/or the current time
+ if ( ((nextStepTime >= _lastStepTime) && ((time >= nextStepTime) || (time < _lastStepTime)))
+ || ((nextStepTime < _lastStepTime) && ((time >= nextStepTime) && (time < _lastStepTime))))
+ {
+ if (_direction == DIRECTION_CW)
+ {
+ // Clockwise
+ _currentPos += 1;
+ }
+ else
+ {
+ // Anticlockwise
+ _currentPos -= 1;
+ }
+ step(_currentPos);
+
+ _lastStepTime = time;
+ return true;
+ }
+ else
+ {
+ return false;
+ }
+}
+
+long AccelStepper::distanceToGo()
+{
+ return _targetPos - _currentPos;
+}
+
+long AccelStepper::targetPosition()
+{
+ return _targetPos;
+}
+
+long AccelStepper::currentPosition()
+{
+ return _currentPos;
+}
+
+// Useful during initialisations or after initial positioning
+// Sets speed to 0
+void AccelStepper::setCurrentPosition(long position)
+{
+ _targetPos = _currentPos = position;
+ _n = 0;
+ _stepInterval = 0;
+}
+
+void AccelStepper::computeNewSpeed()
+{
+ long distanceTo = distanceToGo(); // +ve is clockwise from curent location
+
+ long stepsToStop = (long)((_speed * _speed) / (2.0 * _acceleration)); // Equation 16
+
+ if (distanceTo == 0 && stepsToStop <= 1)
+ {
+ // We are at the target and its time to stop
+ _stepInterval = 0;
+ _speed = 0.0;
+ _n = 0;
+ return;
+ }
+
+ if (distanceTo > 0)
+ {
+ // We are anticlockwise from the target
+ // Need to go clockwise from here, maybe decelerate now
+ if (_n > 0)
+ {
+ // Currently accelerating, need to decel now? Or maybe going the wrong way?
+ if ((stepsToStop >= distanceTo) || _direction == DIRECTION_CCW)
+ _n = -stepsToStop; // Start deceleration
+ }
+ else if (_n < 0)
+ {
+ // Currently decelerating, need to accel again?
+ if ((stepsToStop < distanceTo) && _direction == DIRECTION_CW)
+ _n = -_n; // Start accceleration
+ }
+ }
+ else if (distanceTo < 0)
+ {
+ // We are clockwise from the target
+ // Need to go anticlockwise from here, maybe decelerate
+ if (_n > 0)
+ {
+ // Currently accelerating, need to decel now? Or maybe going the wrong way?
+ if ((stepsToStop >= -distanceTo) || _direction == DIRECTION_CW)
+ _n = -stepsToStop; // Start deceleration
+ }
+ else if (_n < 0)
+ {
+ // Currently decelerating, need to accel again?
+ if ((stepsToStop < -distanceTo) && _direction == DIRECTION_CCW)
+ _n = -_n; // Start accceleration
+ }
+ }
+
+ // Need to accelerate or decelerate
+ if (_n == 0)
+ {
+ // First step from stopped
+ _cn = _c0;
+ _direction = (distanceTo > 0) ? DIRECTION_CW : DIRECTION_CCW;
+ }
+ else
+ {
+ // Subsequent step. Works for accel (n is +_ve) and decel (n is -ve).
+ _cn = _cn - ((2.0 * _cn) / ((4.0 * _n) + 1)); // Equation 13
+ _cn = max(_cn, _cmin);
+ }
+ _n++;
+ _stepInterval = _cn;
+ _speed = 1000000.0 / _cn;
+ if (_direction == DIRECTION_CCW)
+ _speed = -_speed;
+
+#if 0
+ Serial.println(_speed);
+ Serial.println(_acceleration);
+ Serial.println(_cn);
+ Serial.println(_c0);
+ Serial.println(_n);
+ Serial.println(_stepInterval);
+ Serial.println(distanceTo);
+ Serial.println(stepsToStop);
+ Serial.println("-----");
+#endif
+}
+
+// Run the motor to implement speed and acceleration in order to proceed to the target position
+// You must call this at least once per step, preferably in your main loop
+// If the motor is in the desired position, the cost is very small
+// returns true if the motor is still running to the target position.
+bool AccelStepper::run()
+{
+ if (runSpeed())
+ computeNewSpeed();
+ return _speed != 0.0 || distanceToGo() != 0;
+}
+
+AccelStepper::AccelStepper(uint8_t interface, PinName pin1, PinName pin2, PinName pin3, PinName pin4, bool enable)
+{
+ _interface = interface;
+ _currentPos = 0;
+ _targetPos = 0;
+ _speed = 0.0;
+ _maxSpeed = 1.0;
+ _acceleration = 0.0;
+ _sqrt_twoa = 1.0;
+ _stepInterval = 0;
+ _minPulseWidth = 1;
+ _lastStepTime = 0;
+ // _pin[0] = pin1;
+ // _pin[1] = pin2;
+ // _pin[2] = pin3;
+ // _pin[3] = pin4;
+ _pin0 = new DigitalOut(pin1);
+ _pin1 = new DigitalOut(pin2);
+ _pin2 = new DigitalOut(pin3);
+ _pin3 = new DigitalOut(pin4);
+
+ // NEW
+ _n = 0;
+ _c0 = 0.0;
+ _cn = 0.0;
+ _cmin = 1.0;
+ _direction = DIRECTION_CCW;
+
+ int i;
+ for (i = 0; i < 4; i++)
+ _pinInverted[i] = 0;
+ if (enable)
+ enableOutputs();
+ // Some reasonable default
+ setAcceleration(1);
+}
+
+AccelStepper::AccelStepper(void (*forward)(), void (*backward)())
+{
+ _interface = 0;
+ _currentPos = 0;
+ _targetPos = 0;
+ _speed = 0.0;
+ _maxSpeed = 1.0;
+ _acceleration = 0.0;
+ _sqrt_twoa = 1.0;
+ _stepInterval = 0;
+ _minPulseWidth = 1;
+ _lastStepTime = 0;
+ _forward = forward;
+ _backward = backward;
+
+ // NEW
+ _n = 0;
+ _c0 = 0.0;
+ _cn = 0.0;
+ _cmin = 1.0;
+ _direction = DIRECTION_CCW;
+
+ int i;
+ for (i = 0; i < 4; i++)
+ _pinInverted[i] = 0;
+ // Some reasonable default
+ setAcceleration(1);
+}
+
+void AccelStepper::setMaxSpeed(float speed)
+{
+ if (_maxSpeed != speed)
+ {
+ _maxSpeed = speed;
+ _cmin = 1000000.0 / speed;
+ // Recompute _n from current speed and adjust speed if accelerating or cruising
+ if (_n > 0)
+ {
+ _n = (long)((_speed * _speed) / (2.0 * _acceleration)); // Equation 16
+ computeNewSpeed();
+ }
+ }
+}
+
+void AccelStepper::setAcceleration(float acceleration)
+{
+ if (acceleration == 0.0)
+ return;
+ if (_acceleration != acceleration)
+ {
+ // Recompute _n per Equation 17
+ _n = _n * (_acceleration / acceleration);
+ // New c0 per Equation 7, with correction per Equation 15
+ _c0 = 0.676 * sqrt(2.0 / acceleration) * 1000000.0; // Equation 15
+ _acceleration = acceleration;
+ computeNewSpeed();
+ }
+}
+
+void AccelStepper::setSpeed(float speed)
+{
+ if (speed == _speed)
+ return;
+ speed = constrain(speed, -_maxSpeed, _maxSpeed);
+ if (speed == 0.0)
+ _stepInterval = 0;
+ else
+ {
+ _stepInterval = fabs(1000000.0 / speed);
+ _direction = (speed > 0.0) ? DIRECTION_CW : DIRECTION_CCW;
+ }
+ _speed = speed;
+}
+
+float AccelStepper::speed()
+{
+ return _speed;
+}
+
+// Subclasses can override
+void AccelStepper::step(long step)
+{
+ switch (_interface)
+ {
+ case FUNCTION:
+ step0(step);
+ break;
+
+ case DRIVER:
+ step1(step);
+ break;
+
+ case FULL2WIRE:
+ step2(step);
+ break;
+
+ case FULL3WIRE:
+ step3(step);
+ break;
+
+ case FULL4WIRE:
+ step4(step);
+ break;
+
+ case HALF3WIRE:
+ step6(step);
+ break;
+
+ case HALF4WIRE:
+ step8(step);
+ break;
+ }
+}
+
+// You might want to override this to implement eg serial output
+// bit 0 of the mask corresponds to _pin[0]
+// bit 1 of the mask corresponds to _pin[1]
+// ....
+void AccelStepper::setOutputPins(uint8_t mask)
+{
+// uint8_t numpins = 2;
+// if (_interface == FULL4WIRE || _interface == HALF4WIRE)
+// numpins = 4;
+// else if (_interface == FULL3WIRE || _interface == HALF3WIRE)
+// numpins = 3;
+// uint8_t i;
+// for (i = 0; i < numpins; i++)
+// digitalWrite(_pin[i], (mask & (1 << i)) ? (HIGH ^ _pinInverted[i]) : (LOW ^ _pinInverted[i]));
+ *_pin0 = (mask & (1 << 0)) ? (HIGH ^ _pinInverted[0]) : (LOW ^ _pinInverted[0]);
+ *_pin1 = (mask & (1 << 1)) ? (HIGH ^ _pinInverted[1]) : (LOW ^ _pinInverted[1]);
+ if (_interface == FULL4WIRE || _interface == HALF4WIRE) {
+ *_pin2 = (mask & (1 << 2)) ? (HIGH ^ _pinInverted[2]) : (LOW ^ _pinInverted[2]);
+ *_pin3 = (mask & (1 << 3)) ? (HIGH ^ _pinInverted[3]) : (LOW ^ _pinInverted[3]);
+ }
+ else if (_interface == FULL3WIRE || _interface == HALF3WIRE)
+ *_pin2 = (mask & (1 << 2)) ? (HIGH ^ _pinInverted[2]) : (LOW ^ _pinInverted[2]);
+}
+
+// 0 pin step function (ie for functional usage)
+void AccelStepper::step0(long step)
+{
+ if (_speed > 0)
+ _forward();
+ else
+ _backward();
+}
+
+// 1 pin step function (ie for stepper drivers)
+// This is passed the current step number (0 to 7)
+// Subclasses can override
+void AccelStepper::step1(long step)
+{
+ // _pin[0] is step, _pin[1] is direction
+ setOutputPins(_direction ? 0b10 : 0b00); // Set direction first else get rogue pulses
+ setOutputPins(_direction ? 0b11 : 0b01); // step HIGH
+ // Caution 200ns setup time
+ // Delay the minimum allowed pulse width
+ //delayMicroseconds(_minPulseWidth);
+ wait_us(_minPulseWidth);
+ setOutputPins(_direction ? 0b10 : 0b00); // step LOW
+
+}
+
+
+// 2 pin step function
+// This is passed the current step number (0 to 7)
+// Subclasses can override
+void AccelStepper::step2(long step)
+{
+ switch (step & 0x3)
+ {
+ case 0: /* 01 */
+ setOutputPins(0b10);
+ break;
+
+ case 1: /* 11 */
+ setOutputPins(0b11);
+ break;
+
+ case 2: /* 10 */
+ setOutputPins(0b01);
+ break;
+
+ case 3: /* 00 */
+ setOutputPins(0b00);
+ break;
+ }
+}
+// 3 pin step function
+// This is passed the current step number (0 to 7)
+// Subclasses can override
+void AccelStepper::step3(long step)
+{
+ switch (step % 3)
+ {
+ case 0: // 100
+ setOutputPins(0b100);
+ break;
+
+ case 1: // 001
+ setOutputPins(0b001);
+ break;
+
+ case 2: //010
+ setOutputPins(0b010);
+ break;
+
+ }
+}
+
+// 4 pin step function for half stepper
+// This is passed the current step number (0 to 7)
+// Subclasses can override
+void AccelStepper::step4(long step)
+{
+ switch (step & 0x3)
+ {
+ case 0: // 1010
+ setOutputPins(0b0101);
+ break;
+
+ case 1: // 0110
+ setOutputPins(0b0110);
+ break;
+
+ case 2: //0101
+ setOutputPins(0b1010);
+ break;
+
+ case 3: //1001
+ setOutputPins(0b1001);
+ break;
+ }
+}
+
+// 3 pin half step function
+// This is passed the current step number (0 to 7)
+// Subclasses can override
+void AccelStepper::step6(long step)
+{
+ switch (step % 6)
+ {
+ case 0: // 100
+ setOutputPins(0b100);
+ break;
+
+ case 1: // 101
+ setOutputPins(0b101);
+ break;
+
+ case 2: // 001
+ setOutputPins(0b001);
+ break;
+
+ case 3: // 011
+ setOutputPins(0b011);
+ break;
+
+ case 4: // 010
+ setOutputPins(0b010);
+ break;
+
+ case 5: // 011
+ setOutputPins(0b110);
+ break;
+
+ }
+}
+
+// 4 pin half step function
+// This is passed the current step number (0 to 7)
+// Subclasses can override
+void AccelStepper::step8(long step)
+{
+ switch (step & 0x7)
+ {
+ case 0: // 1000
+ setOutputPins(0b0001);
+ break;
+
+ case 1: // 1010
+ setOutputPins(0b0101);
+ break;
+
+ case 2: // 0010
+ setOutputPins(0b0100);
+ break;
+
+ case 3: // 0110
+ setOutputPins(0b0110);
+ break;
+
+ case 4: // 0100
+ setOutputPins(0b0010);
+ break;
+
+ case 5: //0101
+ setOutputPins(0b1010);
+ break;
+
+ case 6: // 0001
+ setOutputPins(0b1000);
+ break;
+
+ case 7: //1001
+ setOutputPins(0b1001);
+ break;
+ }
+}
+
+// Prevents power consumption on the outputs
+void AccelStepper::disableOutputs()
+{
+ if (! _interface) return;
+
+ setOutputPins(0); // Handles inversion automatically
+ // if (_enablePin != 0xff)
+ if (_enablePin)
+ // digitalWrite(_enablePin, LOW ^ _enableInverted);
+ *_enablePin = LOW ^ _enableInverted;
+}
+
+void AccelStepper::enableOutputs()
+{
+ if (! _interface)
+ return;
+
+ //pinMode(_pin[0], OUTPUT);
+ //pinMode(_pin[1], OUTPUT);
+ if (_interface == FULL4WIRE || _interface == HALF4WIRE)
+ {
+ //pinMode(_pin[2], OUTPUT);
+ //pinMode(_pin[3], OUTPUT);
+ }
+ else if (_interface == FULL3WIRE || _interface == HALF3WIRE)
+ {
+ //pinMode(_pin[2], OUTPUT);
+ }
+
+ // if (_enablePin != 0xff)
+ if (_enablePin)
+ {
+ //pinMode(_enablePin, OUTPUT);
+ //digitalWrite(_enablePin, HIGH ^ _enableInverted);
+ *_enablePin = HIGH ^ _enableInverted;
+ }
+}
+
+void AccelStepper::setMinPulseWidth(unsigned int minWidth)
+{
+ _minPulseWidth = minWidth;
+}
+
+// void AccelStepper::setEnablePin(uint8_t enablePin)
+void AccelStepper::setEnablePin(PinName enablePin)
+{
+ // _enablePin = enablePin;
+ _enablePin = new DigitalOut(enablePin);
+
+ // This happens after construction, so init pin now.
+ // if (_enablePin != 0xff)
+ if (*_enablePin)
+ {
+ //pinMode(_enablePin, OUTPUT);
+ //digitalWrite(_enablePin, HIGH ^ _enableInverted);
+ *_enablePin = HIGH ^ _enableInverted;
+ }
+}
+
+void AccelStepper::setPinsInverted(bool directionInvert, bool stepInvert, bool enableInvert)
+{
+ _pinInverted[0] = stepInvert;
+ _pinInverted[1] = directionInvert;
+ _enableInverted = enableInvert;
+}
+
+void AccelStepper::setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert)
+{
+ _pinInverted[0] = pin1Invert;
+ _pinInverted[1] = pin2Invert;
+ _pinInverted[2] = pin3Invert;
+ _pinInverted[3] = pin4Invert;
+ _enableInverted = enableInvert;
+}
+
+// Blocks until the target position is reached and stopped
+void AccelStepper::runToPosition()
+{
+ while (run())
+ ;
+}
+
+bool AccelStepper::runSpeedToPosition()
+{
+ if (_targetPos == _currentPos)
+ return false;
+ if (_targetPos >_currentPos)
+ _direction = DIRECTION_CW;
+ else
+ _direction = DIRECTION_CCW;
+ return runSpeed();
+}
+
+// Blocks until the new target position is reached
+void AccelStepper::runToNewPosition(long position)
+{
+ moveTo(position);
+ runToPosition();
+}
+
+void AccelStepper::stop()
+{
+ if (_speed != 0.0)
+ {
+ long stepsToStop = (long)((_speed * _speed) / (2.0 * _acceleration)) + 1; // Equation 16 (+integer rounding)
+ if (_speed > 0)
+ move(stepsToStop);
+ else
+ move(-stepsToStop);
+ }
+}
+
diff -r 000000000000 -r deef8c36d17a AccelStepper.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/AccelStepper.h Mon May 07 11:39:53 2018 +0000
@@ -0,0 +1,680 @@
+// AccelStepper.h
+//
+/// \mainpage AccelStepper library for MBED
+///
+/// This is the MBED AccelStepper library.
+/// It provides an object-oriented interface for 2, 3 or 4 pin stepper motors.
+/// Based on the Arduino AccelStepper library by Airspayce.com
+/// Translated for MBED by Jaap Vermaas <jaap@tuxic.nl>, 03-2015
+///
+/// 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:
+/// \li Supports acceleration and deceleration
+/// \li Supports multiple simultaneous steppers, with independent concurrent stepping on each stepper
+/// \li API functions never delay() or block
+/// \li Supports 2, 3 and 4 wire steppers, plus 3 and 4 wire half steppers.
+/// \li Supports alternate stepping functions to enable support of AFMotor (https://github.com/adafruit/Adafruit-Motor-Shield-library)
+/// \li Supports stepper drivers such as the Sparkfun EasyDriver (based on 3967 driver chip)
+/// \li Very slow speeds are supported
+/// \li Extensive API
+/// \li 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-1.47.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.
+/// 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
+/// 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.
+///
+/// \par Installation
+///
+/// Install in the usual way: unzip the distribution zip file to the libraries
+/// 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
+/// 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.
+///
+/// \par 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:
+///
+/// \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
+/// 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.
+///
+/// \par 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:
+///
+/// \par 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 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
+/// application. Contact info@airspayce.com for details.
+///
+/// \par Revision History
+/// \version 1.0 Initial release
+///
+/// \version 1.1 Added speed() function to get the current speed.
+/// \version 1.2 Added runSpeedToPosition() submitted by Gunnar Arndt.
+/// \version 1.3 Added support for stepper drivers (ie with Step and Direction inputs) with _pins == 1
+/// \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.
+/// Reported by Sandy Noble.
+/// Removed redundant _lastRunTime member.
+/// \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.
+/// \version 1.10 Builds on Arduino 1.0
+/// \version 1.11 Improvments from Michael Ellison:
+/// 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,
+/// 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.
+/// \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
+/// 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.
+/// 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.
+/// \version 1.20 Improved documentation and examples to show need for correctly
+/// specifying AccelStepper::FULL4WIRE and friends.
+/// \version 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
+/// \version 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.
+/// \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.
+/// \version 1.24 Fixed a problem introduced in 1.23: with runToPosition, which did never returned
+/// \version 1.25 Now ignore attempts to set acceleration to 0.0
+/// \version 1.26 Fixed a problem where certina combinations of speed and accelration could cause
+/// oscillation about the target position.
+/// \version 1.27 Added stop() function to stop as fast as possible with current acceleration parameters.
+/// Also added new Quickstop example showing its use.
+/// \version 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.
+/// \version 1.29 Fixed a problem that could cause a DRIVER stepper to continually step
+/// with some sketches. Reported by Vadim.
+/// \version 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.
+/// \version 1.31 Updated author and distribution location details to airspayce.com
+/// \version 1.32 Fixed a problem with enableOutputs() and setEnablePin on Arduino Due that
+/// prevented the enable pin changing stae correctly. Reported by Duane Bishop.
+/// \version 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.
+/// \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
+/// 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
+/// 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
+/// wrong direction (or not,
+/// 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
+/// 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
+/// 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>
+/// \version 1.45 Fixed a problem where if setAcceleration was not called, there was no default
+/// acceleration. Reported by Michael Newman.<br>
+/// \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
+/// not to work correctly under some circumstances. Reported by Oleg V Gavva.<br>
+
+///
+/// \author Mike McCauley (mikem@airspayce.com) DO NOT CONTACT THE AUTHOR DIRECTLY: USE THE LISTS
+// Copyright (C) 2009-2013 Mike McCauley
+// $Id: AccelStepper.h,v 1.21 2014/10/31 06:05:30 mikem Exp mikem $
+
+#ifndef AccelStepper_h
+#define AccelStepper_h
+
+#include <stdlib.h>
+#include <mbed.h>
+#define max(a,b) (((a) > (b)) ? (a) : (b))
+#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
+#define LOW false
+#define HIGH true
+//#if ARDUINO >= 100
+//#include <Arduino.h>
+//#else
+//#include <WProgram.h>
+//#include <wiring.h>
+//#endif
+
+// These defs cause trouble on some versions of Arduino
+#undef round
+
+/////////////////////////////////////////////////////////////////////
+/// \class AccelStepper AccelStepper.h <AccelStepper.h>
+/// \brief 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.
+///
+/// \par 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.
+///
+/// \par 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.
+///
+/// \par 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).
+///
+/// \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.
+/// 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.
+class AccelStepper
+{
+public:
+ /// \brief 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.
+ 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
+ } MotorInterfaceType;
+
+ /// 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().
+ /// \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.
+ /// 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.
+ /// \param[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)
+ /// \param[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.
+ /// \param[in] pin3 Arduino digital pin number for motor pin 3. Defaults
+ /// to pin 4.
+ /// \param[in] pin4 Arduino digital pin number for motor pin 4. Defaults
+ /// to pin 5.
+ /// \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);
+
+ /// 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.
+ /// \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.
+ /// 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);
+
+ /// Set the target position relative to the current position
+ /// \param[in] relative The desired position relative to the current position. Negative is
+ /// anticlockwise from the current position.
+ void move(long relative);
+
+ /// 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.
+ /// \return true if the motor is still running to the target position.
+ bool run();
+
+ /// 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,
+ /// \return true if the motor was stepped.
+ bool runSpeed();
+
+ /// 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.
+ /// \param[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.
+ void setMaxSpeed(float speed);
+
+ /// 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
+ /// root to be calculated. Dont call more ofthen than needed
+ void setAcceleration(float acceleration);
+
+ /// Sets the desired constant speed for use with runSpeed().
+ /// \param[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.
+ void setSpeed(float speed);
+
+ /// The most recently set speed
+ /// \return the most recent speed in steps per second
+ float speed();
+
+ /// The distance from the current position to the target position.
+ /// \return the distance from the current position to the target position
+ /// in steps. Positive is clockwise from the current position.
+ long distanceToGo();
+
+ /// The most recently set target position.
+ /// \return the target position
+ /// in steps. Positive is clockwise from the 0 position.
+ long targetPosition();
+
+ /// The currently motor position.
+ /// \return the current motor position
+ /// in steps. Positive is clockwise from the 0 position.
+ 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
+ /// 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.
+ /// \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)
+ /// to the target position and blocks until it is at
+ /// position. Dont use this in event loops, since it blocks.
+ void runToPosition();
+
+ /// Runs at the currently selected speed until the target position is reached
+ /// Does not implement accelerations.
+ /// \return true if it stepped
+ bool runSpeedToPosition();
+
+ /// 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.
+ /// \param[in] position The new target position.
+ void runToNewPosition(long position);
+
+ /// Sets a new target position that causes the stepper
+ /// to stop as quickly as possible, using the current speed and acceleration parameters.
+ void stop();
+
+ /// 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.
+ virtual void disableOutputs();
+
+ /// Enable motor pin outputs by setting the motor pins to OUTPUT
+ /// 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
+ /// 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.
+ 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()
+ /// is called.
+ /// \param[in] enablePin Arduino digital pin number for motor enable
+ /// \sa setPinsInverted
+ void setEnablePin(PinName enablePin);
+
+ /// Sets the inversion for stepper driver pins
+ /// \param[in] directionInvert True for inverted direction pin, false for non-inverted
+ /// \param[in] stepInvert True for inverted step pin, false for non-inverted
+ /// \param[in] enableInvert True for inverted enable pin, false (default) for non-inverted
+ void setPinsInverted(bool directionInvert = false, bool stepInvert = false, bool enableInvert = false);
+
+ /// Sets the inversion for 2, 3 and 4 wire stepper pins
+ /// \param[in] pin1Invert True for inverted pin1, false for non-inverted
+ /// \param[in] pin2Invert True for inverted pin2, false for non-inverted
+ /// \param[in] pin3Invert True for inverted pin3, false for non-inverted
+ /// \param[in] pin4Invert True for inverted pin4, false for non-inverted
+ /// \param[in] enableInvert True for inverted enable pin, false (default) for non-inverted
+ void setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert);
+
+protected:
+ 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
+ DIRECTION_CW = 1 ///< Counter-Clockwise
+ } Direction;
+
+ /// Forces the library to compute a new instantaneous speed and set that as
+ /// the current speed. It is called by
+ /// the library:
+ /// \li after each step
+ /// \li after change to maxSpeed through setMaxSpeed()
+ /// \li after change to acceleration through setAcceleration()
+ /// \li after change to target position (relative or absolute) through
+ /// move() or moveTo()
+ void computeNewSpeed();
+
+ /// 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
+ virtual void setOutputPins(uint8_t mask);
+
+ /// 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.
+ /// \param[in] step The current step phase number (0 to 7)
+ virtual void step(long step);
+
+ /// 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
+ /// \param[in] step The current step phase number (0 to 7)
+ virtual void step0(long step);
+
+ /// 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.
+ /// \param[in] step The current step phase number (0 to 7)
+ virtual void step1(long step);
+
+ /// 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
+ /// \param[in] step The current step phase number (0 to 7)
+ virtual void step2(long step);
+
+ /// 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
+ /// \param[in] step The current step phase number (0 to 7)
+ virtual void step3(long step);
+
+ /// 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.
+ /// \param[in] step The current step phase number (0 to 7)
+ virtual void step4(long step);
+
+ /// 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
+ /// \param[in] step The current step phase number (0 to 7)
+ virtual void step6(long step);
+
+ /// 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.
+ /// \param[in] step The current step phase number (0 to 7)
+ virtual void step8(long step);
+
+private:
+ /// Number of pins on the stepper motor. Permits 2 or 4. 2 pins is a
+ /// bipolar, and 4 pins is a unipolar.
+ uint8_t _interface; // 0, 1, 2, 4, 8, See MotorInterfaceType
+
+ /// Arduino pin number assignments for the 2 or 4 pins required to interface to the
+ /// stepper motor or driver
+ uint8_t _pin[4];
+
+ /// Whether the _pins is inverted or not
+ uint8_t _pinInverted[4];
+
+ /// The current absolution position in steps.
+ long _currentPos; // Steps
+
+ /// The target position in steps. The AccelStepper library will move the
+ /// motor from the _currentPos to the _targetPos, taking into account the
+ /// max speed, acceleration and deceleration
+ long _targetPos; // Steps
+
+ /// The current motos speed in steps per second
+ /// Positive is clockwise
+ float _speed; // Steps per second
+
+ /// The maximum permitted speed in steps per second. Must be > 0.
+ float _maxSpeed;
+
+ /// The acceleration to use to accelerate or decelerate the motor in steps
+ /// per second per second. Must be > 0
+ float _acceleration;
+ float _sqrt_twoa; // Precomputed sqrt(2*_acceleration)
+
+ /// The current interval between steps in microseconds.
+ /// 0 means the motor is currently stopped with _speed == 0
+ unsigned long _stepInterval;
+
+ /// The last step time in microseconds
+ unsigned long _lastStepTime;
+
+ /// The minimum allowed pulse width in microseconds
+ unsigned int _minPulseWidth;
+
+ /// Is the direction pin inverted?
+ ///bool _dirInverted; /// Moved to _pinInverted[1]
+
+ /// Is the step pin inverted?
+ ///bool _stepInverted; /// Moved to _pinInverted[0]
+
+ /// Is the enable pin inverted?
+ bool _enableInverted;
+
+ /// Enable pin for stepper driver, or 0xFF if unused.
+ //uint8_t _enablePin;
+ DigitalOut *_enablePin;
+
+ /// The pointer to a forward-step procedure
+ void (*_forward)();
+
+ /// The pointer to a backward-step procedure
+ void (*_backward)();
+
+ /// The step counter for speed calculations
+ long _n;
+
+ /// Initial step size in microseconds
+ float _c0;
+
+ /// Last step size in microseconds
+ float _cn;
+
+ /// Min step size in microseconds based on maxSpeed
+ float _cmin; // at max speed
+
+ /// Current direction motor is spinning in
+ bool _direction; // 1 == CW
+
+};
+
+/// @example Random.pde
+/// Make a single stepper perform random changes in speed, position and acceleration
+
+/// @example Overshoot.pde
+/// Check overshoot handling
+/// 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
+/// Shows how to multiple simultaneous steppers
+/// Runs one stepper forwards and backwards, accelerating and decelerating
+/// at the limits. Runs other steppers at the same time
+
+/// @example ConstantSpeed.pde
+/// Shows how to run AccelStepper in the simplest,
+/// fixed speed mode with no accelerations
+
+/// @example Blocking.pde
+/// Shows how to use the blocking call runToNewPosition
+/// 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.
+
+/// @example AFMotor_ConstantSpeed.pde
+/// Shows how to run AccelStepper in the simplest,
+/// fixed speed mode with no accelerations
+
+/// @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,
+/// depending on the value of the pot.
+
+/// @example Bounce.pde
+/// Make a single stepper bounce from one limit to another, observing
+/// accelrations at each end of travel
+
+/// @example Quickstop.pde
+/// Check stop handling.
+/// Calls stop() while the stepper is travelling at full speed, causing
+/// the stepper to stop as quickly as possible, within the constraints of the
+/// current acceleration.
+
+/// @example MotorShield.pde
+/// Shows how to use AccelStepper to control a 3-phase motor, such as a HDD spindle motor
+/// 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
+/// Itead Studio Arduino Dual Stepper Motor Driver Shield
+/// model IM120417015
+
+#endif
+