interrupt driven stepper controller inherited from AccelStepper
To use this module inherit from the AccelStepper class, modify it to expose necessary members into public:
- _stepInterval
- _direction
- _currentPos
- _targetPos
- _speed
- _pin[4]
Easiest is to use provided patch https://github.com/sq7bti/iAccelStepper/blob/master/AccelStepper.patch
Within Energia on LM4F target there are only two timers available for free use: Timer1 and Timer2
- // SYSCTL_PERIPH_TIMER0, // wiring_analog.c analogWrite()
- SYSCTL_PERIPH_TIMER1,
- SYSCTL_PERIPH_TIMER2,
- SYSCTL_PERIPH_TIMER3
- // SYSCTL_PERIPH_TIMER4, // Tone.c
- // SYSCTL_PERIPH_TIMER5, // wiring.c - millis() micros()
- // SYSCTL_PERIPH_TIMER6,
- // SYSCTL_PERIPH_TIMER7
To sum up, both the original AccelStepper and iAccelStepper library should be located in your library folder, not necessarily in a common folder:
In the main ino file one need to include both header files:
#include "AccelStepper.h"
#include "iAccelStepper.h"
Instantiation of object boils down to an empty declaration:
iAccelStepper axis1;
iAccelStepper axis2;
setup() should contain initialisation call:
axis1.begin(PB_0, PB_5);
axis2.begin(PE_4, PB_1);
To perform a movement, the usual methods of the original AccelStepper should be used, such as move(), moveTo() and stop(). The difference is iAccelStepper DO_NOT_REQUIRE call run() method. See example for more.
React
Typescript
Django
Laravel
Facebook
Microsoft
Google
Alibaba
D3
Tencent