StepperDriver Class Reference

Class for driving a stepper motor. More...

#include <StepperDriver.h>

Public Member Functions
	StepperDriver (uint8_t new_id, uint8_t stepsPerRev, uint8_t pin1, uint8_t pin2, uint8_t pin3, uint8_t pin4, uint8_t enable, uint8_t new_speed)
	Constructor for the StepperDriver object. More...
void	move (int16_t steps)
	Moves the stepper motor a specified number of steps. More...
int32_t	getPosition (void)
	Gets the current position of the stepper motor. More...
void	setPosition (int32_t new_pos)
	Sets the current position of the stepper motor. More...
void	setSpeed (float new_speed)
	Sets the speed of the stepper motor in RPM. More...
float	getSpeed (void)
	Returns the speed of the stepper motor in RPM. More...
uint8_t	getID (void)
	Returns the ID of the StepperDriver object. More...

Protected Attributes
int32_t	curr_pos
	The current position of the motor.
uint8_t	id
	The ID of the StepperDriver object.
uint8_t	pin_A
	The pin connected to the positive side of the A coil.
uint8_t	pin_Abar
	The pin connected to the negative side of the A coil.
uint8_t	pin_B
	The pin connected to the positive side of the B coil.
uint8_t	pin_Bbar
	The pin connected to the negative side of the A coil.
uint8_t	pin_enable
	The enable pin.
float	speed
	The speed in RPM the motor rotates at.
Stepper *	p_Stepper
	A pointer to a Stepper object.

Detailed Description

Class for driving a stepper motor.

This class uses the Arduino Stepper module and adds some functionality on top of that class. The driver also has the ability to track the position of the stepper motor.

Constructor & Destructor Documentation

StepperDriver()

StepperDriver::StepperDriver	(	uint8_t	new_id,
		uint8_t	stepsPerRev,
		uint8_t	pin1,
		uint8_t	pin2,
		uint8_t	pin3,
		uint8_t	pin4,
		uint8_t	enable,
		uint8_t	new_speed
	)

Constructor for the StepperDriver object.

In the constructor, the pins for the stepper are defined, and the enable pin. In the constructor, the position is initialized to 0, the enable pin is set high, and a new Stepper object is created from the Arduino library. The object also contains an id that can be read from the object

Parameters

new_id	The ID to be set to the object
stepsPerRev	The number of steps per revolution for the given stepper motor, which equals 360 degrees/degrees per step
pin1	The pin that is connected to the positive side of the first loop - also known as Phase A.
pin2	The pin that is connected to the negative side of the first loop - also known as Phase A-Bar.
pin3	The pin that is connected to the positive side of the second loop - also known as Phase B.
pin4	The pin that is connected to the negative side of the second loop - also known as Phase B-Bar.
enable	The pin that is connected to the enable pin of the motor driver.
new_speed	The speed in RPM that you want the stepper motor to spin at.

Member Function Documentation

getID()

uint8_t StepperDriver::getID

(

void

)

Returns the ID of the StepperDriver object.

Returns

The ID of the StepperDriver object

getPosition()

int32_t StepperDriver::getPosition

(

void

)

Gets the current position of the stepper motor.

The position that is returned is returned in terms of total steps, so it will need to be converted to other units

Returns

The number of steps that the motor has rotated through.

getSpeed()

float StepperDriver::getSpeed

(

void

)

Returns the speed of the stepper motor in RPM.

Returns

The speed of the motor in RPM

move()

void StepperDriver::move

(

int16_t

steps

)

Moves the stepper motor a specified number of steps.

This function moves the stepper the number of steps, which correlates to the number of degrees equal to degrees/step * steps. The motor moves at the speed according to StepperDriver::setSpeed()

Parameters

steps

The number of steps for the motor to rotate through.

setPosition()

void StepperDriver::setPosition

(

int32_t

new_pos

)

Sets the current position of the stepper motor.

This method takes in an input argument and changes the position that will be returned when StepperDriver::getPosition() is called. This is called in the constructor to set the position to 0.

Parameters

new_pos

The new position to be set

setSpeed()

void StepperDriver::setSpeed

(

float

new_speed

)

Sets the speed of the stepper motor in RPM.

This is a wrapper method for the Stepper.h setSpeed() function

Parameters

new_speed

The speed in RPM that the stepper motor will rotate at

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

• CanOpener/lib/motorDriverLib/StepperDriver.h
• CanOpener/lib/motorDriverLib/StepperDriver.cpp