CStepper Class Reference

List of all members.

Public Member Functions
void	init (uint8_t *s, CMotor *pMotor, CStepTimer *pStepTimer, const char axis, char consoleStatus=0)
	Initialze the axis.
void	setSprIndex (int x)
	Set axis microstepping.
void	setDirection (char)
	Set motor direction before move, include CProfile::reverse setting.
void	brakeOn (void)
	Activate motor brake.
void	brakeOff (void)
	De-activate motor brake.
int	readPosition (void)
	Return position in units based on CProfile::units.
void	writePosition (int x)
	Set axis position to x.
void	step (int x)
	Relative move, x is in signed degrees or steps.
void	stepTo (int position)
	Absolute move, position is in signed degrees or steps.
void	doPulse (void)
void	stepMotor (void)
	Move motor one step.
void	on (char direction)
	Turn on motor in given direction.
void	autoHome (void)
	Look for home.
void	setHomeOffset (int offset)
void	changeSpeed (void)
	Change speed if in continuous mode.
void	timerCompareA (void)
	Executed on counter 1A top.
void	timerOverflow (void)
	Process timer overflow event.
int	indexToSteps (char index)
	Convert 0,1,2... to 200,400,800...
char	stepsToIndex (int steps)
	Convert 200,400,800... to 0,1,2...
int	stepsToMove (int x)
	Calculate number of steps to move to target.
int	toSteps (int x)
	Convert input x to steps.
int	toUnits (int x)
	Convert input x to units, based on CProfile::units.
Public Attributes
CProfile	profile
	Axis configuration.
CRunProfile	runProfile
	Axis run-time (motion) parameters.
CStepPeriod	avrStep
	Axis motion pulse width calculator.
CMotor *	pMotor
	Axis motor control object.
CStepTimer *	pStepTimer
	Axis motion pulse timer.

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Member Function Documentation

int CStepper::indexToSteps

(

char

index

)

Convert 0,1,2... to 200,400,800...

Convert index (0 through 4) to microsteps (200 through 3200). If index is not valid, return 3200 (slowest) steps

Parameters:

[in]

index

0, 1, 2, 3, or 4

Returns:

microsteps 200, 400, 800, 1600, or 3200 (steps per motor rev)

char CStepper::stepsToIndex

(

int

steps

)

Convert 200,400,800... to 0,1,2...

Convert microsteps (200 through 3200) to index (0 through 4). If index is not valid, return 4 (slowest) index

Parameters:

[in]

steps

200, 400, 800, 1600, or 3200 (steps per motor rev)

Returns:

index 0, 1, 2, 3, or 4

void CStepper::timerCompareA

(

void

)

Executed on counter 1A top.

int CStepper::toSteps

(

int

x

)

Convert input x to steps.

Convert degrees or steps to steps.

Parameters:

[in]

x

number of steps in degrees or steps

Returns:

x converted to steps, truncated to signed integer

• x is returned unaltered if CProfile::units is 1

int CStepper::toUnits

(

int

x

)

Convert input x to units, based on CProfile::units.

Convert steps to degrees if CProfile::units is 0.

Parameters:

[in]

x

steps

Returns:

x converted to steps or degrees, truncated to signed integer

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The documentation for this class was generated from the following files:

• CStepper.h
• CStepper.cpp