CStepPeriod Class Reference

Move the stepper motor a given number of steps. More...

#include <CStepPeriod.h>

List of all members.

Public Member Functions
void	init (CProfile *, CRunProfile *)
void	move (int step)
void	doStep (void)
	Timer/Counter1 Output Compare A Match Interrupt.
void	changeSpeed (void)
void	off (void)
Static Public Attributes
static const long	timerFreq = F_CPU / 8

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Detailed Description

Move the stepper motor a given number of steps.

Holding data used by timer interrupt for speed ramp calculation.

Makes the stepper motor move the given number of steps. It accelrate with given accelration up to maximum speed and decelerate with given deceleration so it stops at the given step. If accel/decel is too small and steps to move is too few, speed might not reach the max speed limit before deceleration starts.

Parameters:

steps	Number of steps to move (pos - CW, neg - CCW).
accel	Accelration to use, in 0.01*rad/sec^2.
decel	Decelration to use, in 0.01*rad/sec^2.
speed	Max speed, in 0.01*rad/sec.

Table of coefficients to normalize motor speed regardless of microstep settings

Contains data used by timer interrupt to calculate speed profile. Data is written to it by move(), when stepper motor is moving (timer interrupt running) data is read/updated when calculating a new step_delay

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Member Function Documentation

void CStepPeriod::doStep

(

void

)

Timer/Counter1 Output Compare A Match Interrupt.

Timer/Counter1 Output Compare A Match Interrupt. Increments/decrements the position of the stepper motor except after last position, when it stops. The step_delay defines the period of this interrupt and controls the speed of the stepper motor. A new step delay is calculated to follow wanted speed profile on basis of accel/decel parameters.

void CStepPeriod::move

(

int

step

)

Number of steps before deceleration

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

• CStepPeriod.cpp
• CStepPeriod.h