Stepper
[Libraries]

The Stepper Motor subsystem provides speed and position control for one or two stepper motors. More...


Functions
int	Stepper_SetActive (int index, int state)
	Sets whether the specified Stepper is active.
int	Stepper_GetActive (int index)
	Check whether the stepper is active or not.
int	Stepper_SetPosition (int index, int position)
	Set the position of the specified stepper motor.
int	Stepper_SetPositionRequested (int index, int positionRequested)
	Set the destination position for a stepper motor.
int	Stepper_SetSpeed (int index, int speed)
	Set the speed at which a stepper will move.
int	Stepper_GetSpeed (int index)
	Get the speed at which a stepper will move.
int	Stepper_GetPosition (int index)
	Read the current position of a stepper motor.
int	Stepper_GetPositionRequested (int index)
	Read the destination position of a stepper motor.
int	Stepper_Step (int index, int steps)
	Simply take a number of steps from wherever the motor is currently positioned.
int	Stepper_SetDuty (int index, int duty)
	Set the duty - from 0 to 1023.
int	Stepper_GetDuty (int index)
	Get the duty Read the value previously set for the duty.
int	Stepper_SetBipolar (int index, int bipolar)
	Declare whether the stepper is bipolar or not.
int	Stepper_GetBipolar (int index)
	Get the bipolar setting Read the value previously set for bipolar.
int	Stepper_SetHalfStep (int index, int halfStep)
	Declare whether the stepper is in half stepping mode or not.
int	Stepper_GetHalfStep (int index)
	Read whether the stepper is in half stepping mode or not.

Detailed Description

The Stepper Motor subsystem provides speed and position control for one or two stepper motors.

Up to 2 stepper motors can be controlled with the Make Application Board. Specify settings for your stepper motor by setting whether it's:

bipolar or unipolar
normal of half-stepping

Positioning

You can generally use the stepper motor in 2 modes - absolute positioning or relative positioning.

For absolute positioning, call Stepper_SetPositionRequested() with the desired position, and the motor will move there. You can read back the stepper's position at any point along the way to determine where it is at a given moment. The board keeps an internal count of how many steps the motor has taken in order to keep track of where it is.

For relative positioning, use Stepper_Step( ) to simply move a number of steps from the current position.

See the Stepper Motor how-to for more detailed info on hooking up a stepper motor to the Make Controller.

Function Documentation

int Stepper_GetActive ( int index )

Check whether the stepper is active or not.

Parameters:

index

An integer specifying which stepper (0-1).

Returns:: State - 1 (active) or 0 (inactive).

Example

  if( Stepper_GetActive(1) )
  {
    // Stepper 1 is active
  }
  else
  {
    // Stepper 1 is inactive
  }

Definition at line 176 of file stepper.c.

int Stepper_GetBipolar ( int index )

Get the bipolar setting Read the value previously set for bipolar.

Parameters:

index

An integer specifying which stepper (0 or 1).

Returns:: 1 for bipolar or 0 for unipolar.

Example

  if( Stepper_GetBipolar(1) )
  {
    // stepper 1 is bipolar
  }
  else
  {
    // stepper 1 is unipolar
  }

Definition at line 491 of file stepper.c.

int Stepper_GetDuty ( int index )

Get the duty Read the value previously set for the duty.

Parameters:

index

An integer specifying which stepper (0 or 1).

Returns:: The duty (0 - 1023), or 0 on error.

Example

  int step1_duty = Stepper_GetDuty(1);
  // step1_duty has the current duty for stepper 1

Definition at line 435 of file stepper.c.

int Stepper_GetHalfStep ( int index )

Read whether the stepper is in half stepping mode or not.

Parameters:

index

An integer specifying which stepper (0 or 1).

Returns:: the HalfStep setting.

Example

  if( Stepper_GetHalfStep(1) )
  {
    // stepper 1 is in half step mode
  }
  else
  {
    // stepper 1 is in full step mode
  }

Definition at line 546 of file stepper.c.

int Stepper_GetPosition ( int index )

Read the current position of a stepper motor.

Parameters:

index

An integer specifying which stepper (0 or 1).

Returns:: The position, 0 on error.

Example

  int step0_pos = Stepper_GetPosition(0);
  // now step0_pos has the current position of stepper 0

Definition at line 327 of file stepper.c.

int Stepper_GetPositionRequested ( int index )

Read the destination position of a stepper motor.

This indicates where the stepper is ultimately headed. To see where it actually is, see Stepper_GetPosition().

Parameters:

index

An integer specifying which stepper (0 or 1).

Returns:: The position and 0 on error

Example

  int step1_destination = Stepper_GetPositionRequested(1);
  // step1_destination has the requested position for stepper 1

Definition at line 351 of file stepper.c.

int Stepper_GetSpeed ( int index )

Get the speed at which a stepper will move.

Read the value previously set for the speed parameter.

Parameters:

index

An integer specifying which stepper (0 or 1).

Returns:: The speed (0 - 1023), or 0 on error.

Example

  int step0_speed = Stepper_GetSpeed(0);
  // now step0_speed has the speed of stepper 0

Definition at line 305 of file stepper.c.

int Stepper_SetActive	(	int	index,
		int	state
	)

Sets whether the specified Stepper is active.

Parameters:

	index	An integer specifying which stepper (0 or 1).
	state	An integer specifying the active state - 1 (active) or 0 (inactive).

Returns:: Zero on success.

Example

  // enable stepper 1
  Stepper_SetActive(1, 1);

Definition at line 128 of file stepper.c.

int Stepper_SetBipolar	(	int	index,
		int	bipolar
	)

Declare whether the stepper is bipolar or not.

Default is bipolar.

Parameters:

	index	An integer specifying which stepper (0 or 1).
	bipolar	An integer 1 for bipolar, 0 for unipolar

Returns:: status (0 = OK).

Example

  // set stepper 1 to unipolar
  Stepper_SetBipolar(1, 0);

Definition at line 459 of file stepper.c.

int Stepper_SetDuty	(	int	index,
		int	duty
	)

Set the duty - from 0 to 1023.

The default is for 100% power (1023).

Parameters:

	index	An integer specifying which stepper (0 or 1).
	duty	An integer specifying the stepper duty (0 - 1023).

Returns:: status (0 = OK).

Example

  // set stepper 0 to half power
  Stepper_SetDuty(0, 512);

Definition at line 404 of file stepper.c.

int Stepper_SetHalfStep	(	int	index,
		int	halfStep
	)

Declare whether the stepper is in half stepping mode or not.

Default is not - i.e. in full step mode.

Parameters:

	index	An integer specifying which stepper (0 or 1).
	halfStep	An integer specifying 1 for half step, 0 for full step

Returns:: status (0 = OK).

Example

  // set stepper 1 to half step mode
  Stepper_SetHalfStep(1, 1);

Definition at line 515 of file stepper.c.

int Stepper_SetPosition	(	int	index,
		int	position
	)

Set the position of the specified stepper motor.

Note that this will not ask the stepper to move. It will simply update the position that the stepper thinks its at. To move the stepper, see Stepper_SetPositionRequested() or Stepper_Step().

Parameters:

	index	An integer specifying which stepper (0 or 1).
	position	An integer specifying the stepper position.

Returns:: status (0 = OK).

Example

  // reset stepper 1 to call its current position 0
  Stepper_SetPosition(1, 0);

Definition at line 202 of file stepper.c.

int Stepper_SetPositionRequested	(	int	index,
		int	positionRequested
	)

Set the destination position for a stepper motor.

This will start the stepper moving the given number of steps at the current speed, as set by Stepper_SetSpeed().

While it's moving, you can call Stepper_GetPosition() to read its current position.

Parameters:

	index	An integer specifying which stepper (0 or 1).
	positionRequested	An integer specifying the desired stepper position.

Returns:: status (0 = OK).

Example

  // start moving stepper 0 1500 steps
  Stepper_SetPositionRequested(0, 1500);

Definition at line 239 of file stepper.c.

int Stepper_SetSpeed	(	int	index,
		int	speed
	)

Set the speed at which a stepper will move.

This is a number of ms per step, rather than the more common steps per second. Arranging it this way makes it easier to express as an integer. Fastest speed is 1ms / step (1000 steps per second) and slowest is many seconds.

Parameters:

	index	An integer specifying which stepper (0 or 1).
	speed	An integer specifying the stepper speed in ms per step

Returns:: status (0 = OK).

Example

  // set the speed to 1ms / step (1000 steps per second)
  Stepper_SetSpeed(0, 1);

Definition at line 272 of file stepper.c.

int Stepper_Step	(	int	index,
		int	steps
	)

Simply take a number of steps from wherever the motor is currently positioned.

This function will move the motor a given number of steps from the current position.

Parameters:

	index	An integer specifying which stepper (0 or 1).
	steps	An integer specifying the number of steps. Can be negative to go in reverse.

Returns:: status (0 = OK).

Example

  // take 1200 steps forward from our current position
  Stepper_Step(0, 1200);

Definition at line 375 of file stepper.c.

Stepper [Libraries]

Functions

Detailed Description

Positioning

Function Documentation

Stepper
[Libraries]