adeck/AccelStepperPCF8574
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

update to 1.64

Browse Source 
- 1.62 2022-05-22 Added link to AccelStepper - The Missing Manual.
- Fixed a problem when setting the maxSpeed to 1.0 due to incomplete initialisation. Reported by Olivier Pécheux.
- 1.63 2022-06-30 Added virtual destructor at the request of Jan.
- 1.64 2022-10-31 Patch courtesy acwest: Changes to make AccelStepper more subclassable. These changes are largely oriented to implementing new step-scheduling algorithms.
This commit is contained in:
Patrick
2022-11-23 20:19:36 -05:00
parent a9bf2f93bf
commit 1255ab5682
13 changed files with 707 additions and 280 deletions
Download Patch File Download Diff File Expand all files Collapse all files

232
extras/doc/classAccelStepper.html
View File

@@ -1,9 +1,9 @@
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.13"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>AccelStepper: AccelStepper Class Reference</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
@@ -26,14 +26,15 @@
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.13 -->
<!-- Generated by Doxygen 1.9.1 -->
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
initMenu('',false,false,'search.php','Search');
});
</script>
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div class="header">
@@ -57,17 +58,17 @@ $(function() {
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:a73bdecf1273d98d8c5fbcb764cabeea5"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5">MotorInterfaceType</a> { <br />
&#160;&#160;<a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5af5bb99ad9d67ad2d85f840e3abcfe068">FUNCTION</a> = 0,
<a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5ac3523e4cf6763ba518d16fec3708ef23">DRIVER</a> = 1,
<a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a62a305b52f749ff8c89138273fbb012d">FULL2WIRE</a> = 2,
<a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a0b8eea5cf0f8ce70b1959d2977ccc996">FULL3WIRE</a> = 3,
&#160;&#160;<a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5af5bb99ad9d67ad2d85f840e3abcfe068">FUNCTION</a> = 0
, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5ac3523e4cf6763ba518d16fec3708ef23">DRIVER</a> = 1
, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a62a305b52f749ff8c89138273fbb012d">FULL2WIRE</a> = 2
, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a0b8eea5cf0f8ce70b1959d2977ccc996">FULL3WIRE</a> = 3
, <br />
&#160;&#160;<a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5adedd394a375190a3df8d4519c0d4dc2f">FULL4WIRE</a> = 4
, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a00c2387a5af43d8e97639699ab7a5c7f">HALF3WIRE</a> = 6
, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5aecc0900c55b777d2e885581b8c434b07">HALF4WIRE</a> = 8
<br />
&#160;&#160;<a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5adedd394a375190a3df8d4519c0d4dc2f">FULL4WIRE</a> = 4,
<a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a00c2387a5af43d8e97639699ab7a5c7f">HALF3WIRE</a> = 6,
<a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5aecc0900c55b777d2e885581b8c434b07">HALF4WIRE</a> = 8
<br />
}<tr class="memdesc:a73bdecf1273d98d8c5fbcb764cabeea5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Symbolic names for number of pins. Use this in the pins argument the <a class="el" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc. ">AccelStepper</a> constructor to provide a symbolic name for the number of pins to use. <a href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5">More...</a><br /></td></tr>
</td></tr>
}</td></tr>
<tr class="memdesc:a73bdecf1273d98d8c5fbcb764cabeea5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Symbolic names for number of pins. Use this in the pins argument the <a class="el" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc.">AccelStepper</a> constructor to provide a symbolic name for the number of pins to use. <a href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5">More...</a><br /></td></tr>
<tr class="separator:a73bdecf1273d98d8c5fbcb764cabeea5"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
@@ -88,8 +89,10 @@ Public Member Functions</h2></td></tr>
<tr class="separator:abee8d466229b87accba33d6ec929c18f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6123a1dfb4495d8bd2646288eae60d7f"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a6123a1dfb4495d8bd2646288eae60d7f">maxSpeed</a> ()</td></tr>
<tr class="separator:a6123a1dfb4495d8bd2646288eae60d7f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adfb19e3cd2a028a1fe78131787604fd1"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#adfb19e3cd2a028a1fe78131787604fd1">setAcceleration</a> (float acceleration)</td></tr>
<tr class="memitem:adfb19e3cd2a028a1fe78131787604fd1"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#adfb19e3cd2a028a1fe78131787604fd1">setAcceleration</a> (float <a class="el" href="classAccelStepper.html#a8b76f1ae6a49d2c2887b9fea30b8d84f">acceleration</a>)</td></tr>
<tr class="separator:adfb19e3cd2a028a1fe78131787604fd1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8b76f1ae6a49d2c2887b9fea30b8d84f"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a8b76f1ae6a49d2c2887b9fea30b8d84f">acceleration</a> ()</td></tr>
<tr class="separator:a8b76f1ae6a49d2c2887b9fea30b8d84f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae79c49ad69d5ccc9da0ee691fa4ca235"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#ae79c49ad69d5ccc9da0ee691fa4ca235">setSpeed</a> (float <a class="el" href="classAccelStepper.html#a4f0989d0ae264e7eadfe1fa720769fb6">speed</a>)</td></tr>
<tr class="separator:ae79c49ad69d5ccc9da0ee691fa4ca235"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4f0989d0ae264e7eadfe1fa720769fb6"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a4f0989d0ae264e7eadfe1fa720769fb6">speed</a> ()</td></tr>
@@ -124,23 +127,31 @@ Public Member Functions</h2></td></tr>
<tr class="separator:a38298ac2dd852fb22259f6c4bbe08c94"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3a60cc0b962f8ceb81ee1e6f36443ceb"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a3a60cc0b962f8ceb81ee1e6f36443ceb">isRunning</a> ()</td></tr>
<tr class="separator:a3a60cc0b962f8ceb81ee1e6f36443ceb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a89c4c8de0c983e7a59de6a959481aff1"><td class="memItemLeft" align="right" valign="top"><a id="a89c4c8de0c983e7a59de6a959481aff1"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a89c4c8de0c983e7a59de6a959481aff1">~AccelStepper</a> ()</td></tr>
<tr class="memdesc:a89c4c8de0c983e7a59de6a959481aff1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Virtual destructor to prevent warnings during delete. <br /></td></tr>
<tr class="separator:a89c4c8de0c983e7a59de6a959481aff1"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-types"></a>
Protected Types</h2></td></tr>
<tr class="memitem:a7468f91a925c689c3ba250f8d074d228"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228">Direction</a> { <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228a6959a4549f734bd771d418f995ba4fb4">DIRECTION_CCW</a> = 0,
<a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228ad604e0047f7cb47662c5a1cf6999337c">DIRECTION_CW</a> = 1
}<tr class="memdesc:a7468f91a925c689c3ba250f8d074d228"><td class="mdescLeft">&#160;</td><td class="mdescRight">Direction indicator Symbolic names for the direction the motor is turning. <a href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228">More...</a><br /></td></tr>
</td></tr>
<tr class="memitem:a7468f91a925c689c3ba250f8d074d228"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228">Direction</a> { <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228a6959a4549f734bd771d418f995ba4fb4">DIRECTION_CCW</a> = 0
, <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228ad604e0047f7cb47662c5a1cf6999337c">DIRECTION_CW</a> = 1
}</td></tr>
<tr class="memdesc:a7468f91a925c689c3ba250f8d074d228"><td class="mdescLeft">&#160;</td><td class="mdescRight">Direction indicator Symbolic names for the direction the motor is turning. <a href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228">More...</a><br /></td></tr>
<tr class="separator:a7468f91a925c689c3ba250f8d074d228"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr class="memitem:affbee789b5c19165846cf0409860ae79"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#affbee789b5c19165846cf0409860ae79">computeNewSpeed</a> ()</td></tr>
<tr class="separator:affbee789b5c19165846cf0409860ae79"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aab5944f43f869675958939c421bd9a01"><td class="memItemLeft" align="right" valign="top">virtual unsigned long&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#aab5944f43f869675958939c421bd9a01">computeNewSpeed</a> ()</td></tr>
<tr class="separator:aab5944f43f869675958939c421bd9a01"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af3c2516b6ce7c1ecbc2004107bb2a9ce"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins</a> (uint8_t mask)</td></tr>
<tr class="separator:af3c2516b6ce7c1ecbc2004107bb2a9ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8a419121702399d8ac66df4cc47481f4"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step</a> (long step)</td></tr>
<tr class="separator:a8a419121702399d8ac66df4cc47481f4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af4908b53e1821f0a6d2dab509257b3e6"><td class="memItemLeft" align="right" valign="top">long&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#af4908b53e1821f0a6d2dab509257b3e6">stepForward</a> ()</td></tr>
<tr class="separator:af4908b53e1821f0a6d2dab509257b3e6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af8abc9ede47286fa33b518e0bf297c6a"><td class="memItemLeft" align="right" valign="top">long&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#af8abc9ede47286fa33b518e0bf297c6a">stepBackward</a> ()</td></tr>
<tr class="separator:af8abc9ede47286fa33b518e0bf297c6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa2913db789e6fa05756579ff82fe6e7e"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#aa2913db789e6fa05756579ff82fe6e7e">step0</a> (long <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step</a>)</td></tr>
<tr class="separator:aa2913db789e6fa05756579ff82fe6e7e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a63ef416bc039da539294e84a41e7d7dc"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a63ef416bc039da539294e84a41e7d7dc">step1</a> (long <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step</a>)</td></tr>
@@ -160,13 +171,15 @@ Protected Member Functions</h2></td></tr>
Protected Attributes</h2></td></tr>
<tr class="memitem:a35162cdf8ed9a98f98984c177d5ade58"><td class="memItemLeft" align="right" valign="top">boolean&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a35162cdf8ed9a98f98984c177d5ade58">_direction</a></td></tr>
<tr class="separator:a35162cdf8ed9a98f98984c177d5ade58"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a744fa74c2e181e75509a34b17c02e984"><td class="memItemLeft" align="right" valign="top">unsigned long&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAccelStepper.html#a744fa74c2e181e75509a34b17c02e984">_stepInterval</a></td></tr>
<tr class="separator:a744fa74c2e181e75509a34b17c02e984"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Support for stepper motors with acceleration etc. </p>
<p>This defines a single 2 or 4 pin stepper motor, or stepper moter with fdriver chip, with optional acceleration, deceleration, absolute positioning commands etc. Multiple simultaneous steppers are supported, all moving at different speeds and accelerations.</p>
<dl class="section user"><dt>Operation</dt><dd>This module operates by computing a step time in microseconds. The step time is recomputed after each step and after speed and acceleration parameters are changed by the caller. The time of each step is recorded in microseconds. The <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a> function steps the motor once if a new step is due. The <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a> function must be called frequently until the motor is in the desired position, after which time <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a> will do nothing.</dd></dl>
<dl class="section user"><dt>Positioning</dt><dd>Positions are specified by a signed long integer. At construction time, the current position of the motor is consider to be 0. Positive positions are clockwise from the initial position; negative positions are anticlockwise. The current position can be altered for instance after initialization positioning.</dd></dl>
<dl class="section user"><dt>Caveats</dt><dd>This is an open loop controller: If the motor stalls or is oversped, <a class="el" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc. ">AccelStepper</a> will not have a correct idea of where the motor really is (since there is no feedback of the motor's real position. We only know where we <em>think</em> it is, relative to the initial starting point).</dd></dl>
<dl class="section user"><dt>Caveats</dt><dd>This is an open loop controller: If the motor stalls or is oversped, <a class="el" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc.">AccelStepper</a> will not have a correct idea of where the motor really is (since there is no feedback of the motor's real position. We only know where we <em>think</em> it is, relative to the initial starting point).</dd></dl>
<dl class="section user"><dt>Performance</dt><dd>The fastest motor speed that can be reliably supported is about 4000 steps per second at a clock frequency of 16 MHz on Arduino such as Uno etc. Faster processors can support faster stepping speeds. However, any speed less than that down to very slow speeds (much less than one per second) are also supported, provided the <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a> function is called frequently enough to step the motor whenever required for the speed set. Calling <a class="el" href="classAccelStepper.html#adfb19e3cd2a028a1fe78131787604fd1">setAcceleration()</a> is expensive, since it requires a square root to be calculated.</dd></dl>
<p>Gregor Christandl reports that with an Arduino Due and a simple test program, he measured 43163 steps per second using <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">runSpeed()</a>, and 16214 steps per second using <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a>; </p>
</div><h2 class="groupheader">Member Enumeration Documentation</h2>
@@ -212,7 +225,7 @@ Protected Attributes</h2></td></tr>
</table>
</div><div class="memdoc">
<p>Symbolic names for number of pins. Use this in the pins argument the <a class="el" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc. ">AccelStepper</a> constructor to provide a symbolic name for the number of pins to use. </p>
<p>Symbolic names for number of pins. Use this in the pins argument the <a class="el" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc.">AccelStepper</a> constructor to provide a symbolic name for the number of pins to use. </p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a73bdecf1273d98d8c5fbcb764cabeea5af5bb99ad9d67ad2d85f840e3abcfe068"></a>FUNCTION&#160;</td><td class="fielddoc"><p>Use the functional interface, implementing your own driver functions (internal use only) </p>
</td></tr>
@@ -284,9 +297,9 @@ Protected Attributes</h2></td></tr>
</div><div class="memdoc">
<p>Constructor. You can have multiple simultaneous steppers, all moving at different speeds and accelerations, provided you call their <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a> functions at frequent enough intervals. Current Position is set to 0, target position is set to 0. MaxSpeed and Acceleration default to 1.0. The motor pins will be initialised to OUTPUT mode during the constructor by a call to <a class="el" href="classAccelStepper.html#aa279a50d30d0413f570c692cff071643">enableOutputs()</a>. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">interface</td><td>Number of pins to interface to. Integer values are supported, but it is preferred to use the <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5">MotorInterfaceType</a> symbolic names. <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5ac3523e4cf6763ba518d16fec3708ef23" title="Stepper Driver, 2 driver pins required. ">AccelStepper::DRIVER</a> (1) means a stepper driver (with Step and Direction pins). If an enable line is also needed, call <a class="el" href="classAccelStepper.html#a56a81c5f00d02ca19646718e88e974c0">setEnablePin()</a> after construction. You may also invert the pins using <a class="el" href="classAccelStepper.html#ac62cae590c2f9c303519a3a1c4adc8ab">setPinsInverted()</a>. Caution: DRIVER implements a blocking delay of minPulseWidth microseconds (default 1us) for each step. You can change this with <a class="el" href="classAccelStepper.html#af4d3818e691dad5dc518308796ccf154">setMinPulseWidth()</a>. <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a62a305b52f749ff8c89138273fbb012d" title="2 wire stepper, 2 motor pins required ">AccelStepper::FULL2WIRE</a> (2) means a 2 wire stepper (2 pins required). <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a0b8eea5cf0f8ce70b1959d2977ccc996" title="3 wire stepper, such as HDD spindle, 3 motor pins required ">AccelStepper::FULL3WIRE</a> (3) means a 3 wire stepper, such as HDD spindle (3 pins required). <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5adedd394a375190a3df8d4519c0d4dc2f" title="4 wire full stepper, 4 motor pins required ">AccelStepper::FULL4WIRE</a> (4) means a 4 wire stepper (4 pins required). <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a00c2387a5af43d8e97639699ab7a5c7f" title="3 wire half stepper, such as HDD spindle, 3 motor pins required ">AccelStepper::HALF3WIRE</a> (6) means a 3 wire half stepper, such as HDD spindle (3 pins required) <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5aecc0900c55b777d2e885581b8c434b07" title="4 wire half stepper, 4 motor pins required ">AccelStepper::HALF4WIRE</a> (8) means a 4 wire half stepper (4 pins required) Defaults to <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5adedd394a375190a3df8d4519c0d4dc2f" title="4 wire full stepper, 4 motor pins required ">AccelStepper::FULL4WIRE</a> (4) pins. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">pin1</td><td>Arduino digital pin number for motor pin 1. Defaults to pin 2. For a <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5ac3523e4cf6763ba518d16fec3708ef23" title="Stepper Driver, 2 driver pins required. ">AccelStepper::DRIVER</a> (interface==1), this is the Step input to the driver. Low to high transition means to step) </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">pin2</td><td>Arduino digital pin number for motor pin 2. Defaults to pin 3. For a <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5ac3523e4cf6763ba518d16fec3708ef23" title="Stepper Driver, 2 driver pins required. ">AccelStepper::DRIVER</a> (interface==1), this is the Direction input the driver. High means forward. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">interface</td><td>Number of pins to interface to. Integer values are supported, but it is preferred to use the <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5">MotorInterfaceType</a> symbolic names. <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5ac3523e4cf6763ba518d16fec3708ef23" title="Stepper Driver, 2 driver pins required.">AccelStepper::DRIVER</a> (1) means a stepper driver (with Step and Direction pins). If an enable line is also needed, call <a class="el" href="classAccelStepper.html#a56a81c5f00d02ca19646718e88e974c0">setEnablePin()</a> after construction. You may also invert the pins using <a class="el" href="classAccelStepper.html#ac62cae590c2f9c303519a3a1c4adc8ab">setPinsInverted()</a>. Caution: DRIVER implements a blocking delay of minPulseWidth microseconds (default 1us) for each step. You can change this with <a class="el" href="classAccelStepper.html#af4d3818e691dad5dc518308796ccf154">setMinPulseWidth()</a>. <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a62a305b52f749ff8c89138273fbb012d" title="2 wire stepper, 2 motor pins required">AccelStepper::FULL2WIRE</a> (2) means a 2 wire stepper (2 pins required). <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a0b8eea5cf0f8ce70b1959d2977ccc996" title="3 wire stepper, such as HDD spindle, 3 motor pins required">AccelStepper::FULL3WIRE</a> (3) means a 3 wire stepper, such as HDD spindle (3 pins required). <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5adedd394a375190a3df8d4519c0d4dc2f" title="4 wire full stepper, 4 motor pins required">AccelStepper::FULL4WIRE</a> (4) means a 4 wire stepper (4 pins required). <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a00c2387a5af43d8e97639699ab7a5c7f" title="3 wire half stepper, such as HDD spindle, 3 motor pins required">AccelStepper::HALF3WIRE</a> (6) means a 3 wire half stepper, such as HDD spindle (3 pins required) <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5aecc0900c55b777d2e885581b8c434b07" title="4 wire half stepper, 4 motor pins required">AccelStepper::HALF4WIRE</a> (8) means a 4 wire half stepper (4 pins required) Defaults to <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5adedd394a375190a3df8d4519c0d4dc2f" title="4 wire full stepper, 4 motor pins required">AccelStepper::FULL4WIRE</a> (4) pins. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">pin1</td><td>Arduino digital pin number for motor pin 1. Defaults to pin 2. For a <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5ac3523e4cf6763ba518d16fec3708ef23" title="Stepper Driver, 2 driver pins required.">AccelStepper::DRIVER</a> (interface==1), this is the Step input to the driver. Low to high transition means to step) </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">pin2</td><td>Arduino digital pin number for motor pin 2. Defaults to pin 3. For a <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5ac3523e4cf6763ba518d16fec3708ef23" title="Stepper Driver, 2 driver pins required.">AccelStepper::DRIVER</a> (interface==1), this is the Direction input the driver. High means forward. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">pin3</td><td>Arduino digital pin number for motor pin 3. Defaults to pin 4. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">pin4</td><td>Arduino digital pin number for motor pin 4. Defaults to pin 5. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">enable</td><td>If this is true (the default), <a class="el" href="classAccelStepper.html#aa279a50d30d0413f570c692cff071643">enableOutputs()</a> will be called to enable the output pins at construction time. </td></tr>
@@ -294,7 +307,7 @@ Protected Attributes</h2></td></tr>
</dd>
</dl>
<p class="reference">References <a class="el" href="classAccelStepper.html#a35162cdf8ed9a98f98984c177d5ade58">_direction</a>, <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228a6959a4549f734bd771d418f995ba4fb4">DIRECTION_CCW</a>, <a class="el" href="classAccelStepper.html#aa279a50d30d0413f570c692cff071643">enableOutputs()</a>, and <a class="el" href="classAccelStepper.html#adfb19e3cd2a028a1fe78131787604fd1">setAcceleration()</a>.</p>
<p class="reference">References <a class="el" href="classAccelStepper.html#a35162cdf8ed9a98f98984c177d5ade58">_direction</a>, <a class="el" href="classAccelStepper.html#a744fa74c2e181e75509a34b17c02e984">_stepInterval</a>, <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228a6959a4549f734bd771d418f995ba4fb4">DIRECTION_CCW</a>, <a class="el" href="classAccelStepper.html#aa279a50d30d0413f570c692cff071643">enableOutputs()</a>, <a class="el" href="classAccelStepper.html#adfb19e3cd2a028a1fe78131787604fd1">setAcceleration()</a>, and <a class="el" href="classAccelStepper.html#abee8d466229b87accba33d6ec929c18f">setMaxSpeed()</a>.</p>
</div>
</div>
@@ -331,13 +344,33 @@ Protected Attributes</h2></td></tr>
</dd>
</dl>
<p class="reference">References <a class="el" href="classAccelStepper.html#a35162cdf8ed9a98f98984c177d5ade58">_direction</a>, <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228a6959a4549f734bd771d418f995ba4fb4">DIRECTION_CCW</a>, and <a class="el" href="classAccelStepper.html#adfb19e3cd2a028a1fe78131787604fd1">setAcceleration()</a>.</p>
<p class="reference">References <a class="el" href="classAccelStepper.html#a35162cdf8ed9a98f98984c177d5ade58">_direction</a>, <a class="el" href="classAccelStepper.html#a744fa74c2e181e75509a34b17c02e984">_stepInterval</a>, <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228a6959a4549f734bd771d418f995ba4fb4">DIRECTION_CCW</a>, <a class="el" href="classAccelStepper.html#adfb19e3cd2a028a1fe78131787604fd1">setAcceleration()</a>, and <a class="el" href="classAccelStepper.html#abee8d466229b87accba33d6ec929c18f">setMaxSpeed()</a>.</p>
</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a id="affbee789b5c19165846cf0409860ae79"></a>
<h2 class="memtitle"><span class="permalink"><a href="#affbee789b5c19165846cf0409860ae79">&#9670;&nbsp;</a></span>computeNewSpeed()</h2>
<a id="a8b76f1ae6a49d2c2887b9fea30b8d84f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8b76f1ae6a49d2c2887b9fea30b8d84f">&#9670;&nbsp;</a></span>acceleration()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">float AccelStepper::acceleration </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>Returns the acceleration/deceleration rate configured for this stepper that was previously set by <a class="el" href="classAccelStepper.html#adfb19e3cd2a028a1fe78131787604fd1">setAcceleration()</a>; </p><dl class="section return"><dt>Returns</dt><dd>The currently configured acceleration/deceleration </dd></dl>
<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#adfb19e3cd2a028a1fe78131787604fd1">setAcceleration()</a>.</p>
</div>
</div>
<a id="aab5944f43f869675958939c421bd9a01"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aab5944f43f869675958939c421bd9a01">&#9670;&nbsp;</a></span>computeNewSpeed()</h2>
<div class="memitem">
<div class="memproto">
@@ -346,7 +379,7 @@ Protected Attributes</h2></td></tr>
<td class="mlabels-left">
<table class="memname">
<tr>
<td class="memname">void AccelStepper::computeNewSpeed </td>
<td class="memname">unsigned long AccelStepper::computeNewSpeed </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
@@ -354,7 +387,7 @@ Protected Attributes</h2></td></tr>
</table>
</td>
<td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span> </td>
<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span> </td>
</tr>
</table>
</div><div class="memdoc">
@@ -362,10 +395,11 @@ Protected Attributes</h2></td></tr>
<li>after each step </li>
<li>after change to maxSpeed through <a class="el" href="classAccelStepper.html#abee8d466229b87accba33d6ec929c18f">setMaxSpeed()</a> </li>
<li>after change to acceleration through <a class="el" href="classAccelStepper.html#adfb19e3cd2a028a1fe78131787604fd1">setAcceleration()</a> </li>
<li>after change to target position (relative or absolute) through <a class="el" href="classAccelStepper.html#a68942c66e78fb7f7b5f0cdade6eb7f06">move()</a> or <a class="el" href="classAccelStepper.html#ace236ede35f87c63d18da25810ec9736">moveTo()</a> </li>
<li>after change to target position (relative or absolute) through <a class="el" href="classAccelStepper.html#a68942c66e78fb7f7b5f0cdade6eb7f06">move()</a> or <a class="el" href="classAccelStepper.html#ace236ede35f87c63d18da25810ec9736">moveTo()</a> <dl class="section return"><dt>Returns</dt><dd>the new step interval </dd></dl>
</li>
</ul>
<p class="reference">References <a class="el" href="classAccelStepper.html#a35162cdf8ed9a98f98984c177d5ade58">_direction</a>, <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228a6959a4549f734bd771d418f995ba4fb4">DIRECTION_CCW</a>, <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228ad604e0047f7cb47662c5a1cf6999337c">DIRECTION_CW</a>, and <a class="el" href="classAccelStepper.html#a748665c3962e66fbc0e9373eb14c69c1">distanceToGo()</a>.</p>
<p class="reference">References <a class="el" href="classAccelStepper.html#a35162cdf8ed9a98f98984c177d5ade58">_direction</a>, <a class="el" href="classAccelStepper.html#a744fa74c2e181e75509a34b17c02e984">_stepInterval</a>, <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228a6959a4549f734bd771d418f995ba4fb4">DIRECTION_CCW</a>, <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228ad604e0047f7cb47662c5a1cf6999337c">DIRECTION_CW</a>, and <a class="el" href="classAccelStepper.html#a748665c3962e66fbc0e9373eb14c69c1">distanceToGo()</a>.</p>
<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#ace236ede35f87c63d18da25810ec9736">moveTo()</a>, <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a>, <a class="el" href="classAccelStepper.html#adfb19e3cd2a028a1fe78131787604fd1">setAcceleration()</a>, and <a class="el" href="classAccelStepper.html#abee8d466229b87accba33d6ec929c18f">setMaxSpeed()</a>.</p>
@@ -435,7 +469,7 @@ Protected Attributes</h2></td></tr>
</div><div class="memdoc">
<p>The distance from the current position to the target position. </p><dl class="section return"><dt>Returns</dt><dd>the distance from the current position to the target position in steps. Positive is clockwise from the current position. </dd></dl>
<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#affbee789b5c19165846cf0409860ae79">computeNewSpeed()</a>, and <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a>.</p>
<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#aab5944f43f869675958939c421bd9a01">computeNewSpeed()</a>, and <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a>.</p>
</div>
</div>
@@ -557,7 +591,7 @@ Protected Attributes</h2></td></tr>
</dd>
</dl>
<p class="reference">References <a class="el" href="classAccelStepper.html#affbee789b5c19165846cf0409860ae79">computeNewSpeed()</a>.</p>
<p class="reference">References <a class="el" href="classAccelStepper.html#aab5944f43f869675958939c421bd9a01">computeNewSpeed()</a>.</p>
<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a68942c66e78fb7f7b5f0cdade6eb7f06">move()</a>, <a class="el" href="classMultiStepper.html#a291fec32a79390b6eb00296cffac49ee">MultiStepper::moveTo()</a>, and <a class="el" href="classAccelStepper.html#a176c5d2e4c2f21e9e92b12e39a6f0e67">runToNewPosition()</a>.</p>
@@ -579,7 +613,7 @@ Protected Attributes</h2></td></tr>
</div><div class="memdoc">
<p>Poll the motor and step it if a step is due, implementing accelerations and decelerations to achieve the target position. You must call this as frequently as possible, but at least once per minimum step time interval, preferably in your main loop. Note that each call to <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a> will make at most one step, and then only when a step is due, based on the current speed and the time since the last step. </p><dl class="section return"><dt>Returns</dt><dd>true if the motor is still running to the target position. </dd></dl>
<p class="reference">References <a class="el" href="classAccelStepper.html#affbee789b5c19165846cf0409860ae79">computeNewSpeed()</a>, <a class="el" href="classAccelStepper.html#a748665c3962e66fbc0e9373eb14c69c1">distanceToGo()</a>, and <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">runSpeed()</a>.</p>
<p class="reference">References <a class="el" href="classAccelStepper.html#aab5944f43f869675958939c421bd9a01">computeNewSpeed()</a>, <a class="el" href="classAccelStepper.html#a748665c3962e66fbc0e9373eb14c69c1">distanceToGo()</a>, and <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">runSpeed()</a>.</p>
<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a344f58fef8cc34ac5aa75ba4b665d21c">runToPosition()</a>.</p>
@@ -601,9 +635,9 @@ Protected Attributes</h2></td></tr>
</div><div class="memdoc">
<p>Poll the motor and step it if a step is due, implementing a constant speed as set by the most recent call to <a class="el" href="classAccelStepper.html#ae79c49ad69d5ccc9da0ee691fa4ca235">setSpeed()</a>. You must call this as frequently as possible, but at least once per step interval, </p><dl class="section return"><dt>Returns</dt><dd>true if the motor was stepped. </dd></dl>
<p class="reference">References <a class="el" href="classAccelStepper.html#a35162cdf8ed9a98f98984c177d5ade58">_direction</a>, <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228ad604e0047f7cb47662c5a1cf6999337c">DIRECTION_CW</a>, and <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p>
<p class="reference">References <a class="el" href="classAccelStepper.html#a35162cdf8ed9a98f98984c177d5ade58">_direction</a>, <a class="el" href="classAccelStepper.html#a744fa74c2e181e75509a34b17c02e984">_stepInterval</a>, <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228ad604e0047f7cb47662c5a1cf6999337c">DIRECTION_CW</a>, and <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p>
<p class="reference">Referenced by <a class="el" href="classMultiStepper.html#a26c2f53b1e7ddf5d5dfb333f6fb7fb92">MultiStepper::run()</a>, <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a>, and <a class="el" href="classAccelStepper.html#a9270d20336e76ac1fd5bcd5b9c34f301">runSpeedToPosition()</a>.</p>
<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a>, <a class="el" href="classMultiStepper.html#a26c2f53b1e7ddf5d5dfb333f6fb7fb92">MultiStepper::run()</a>, and <a class="el" href="classAccelStepper.html#a9270d20336e76ac1fd5bcd5b9c34f301">runSpeedToPosition()</a>.</p>
</div>
</div>
@@ -621,7 +655,7 @@ Protected Attributes</h2></td></tr>
</tr>
</table>
</div><div class="memdoc">
<p>Runs at the currently selected speed until the target position is reached. Does not implement accelerations. </p><dl class="section return"><dt>Returns</dt><dd>true if it stepped </dd></dl>
<p>Executes <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">runSpeed()</a> unless the targetPosition is reached. This function needs to be called often just like <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">runSpeed()</a> or <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a>. Will step the motor if a step is required at the currently selected speed unless the target position has been reached. Does not implement accelerations. </p><dl class="section return"><dt>Returns</dt><dd>true if it stepped </dd></dl>
<p class="reference">References <a class="el" href="classAccelStepper.html#a35162cdf8ed9a98f98984c177d5ade58">_direction</a>, <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228a6959a4549f734bd771d418f995ba4fb4">DIRECTION_CCW</a>, <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228ad604e0047f7cb47662c5a1cf6999337c">DIRECTION_CW</a>, and <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">runSpeed()</a>.</p>
@@ -697,7 +731,7 @@ Protected Attributes</h2></td></tr>
</dd>
</dl>
<p class="reference">References <a class="el" href="classAccelStepper.html#affbee789b5c19165846cf0409860ae79">computeNewSpeed()</a>.</p>
<p class="reference">References <a class="el" href="classAccelStepper.html#a8b76f1ae6a49d2c2887b9fea30b8d84f">acceleration()</a>, and <a class="el" href="classAccelStepper.html#aab5944f43f869675958939c421bd9a01">computeNewSpeed()</a>.</p>
<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a3bc75bd6571b98a6177838ca81ac39ab">AccelStepper()</a>.</p>
@@ -725,6 +759,8 @@ Protected Attributes</h2></td></tr>
</dd>
</dl>
<p class="reference">References <a class="el" href="classAccelStepper.html#a744fa74c2e181e75509a34b17c02e984">_stepInterval</a>.</p>
<p class="reference">Referenced by <a class="el" href="classMultiStepper.html#a26c2f53b1e7ddf5d5dfb333f6fb7fb92">MultiStepper::run()</a>.</p>
</div>
@@ -776,7 +812,9 @@ Protected Attributes</h2></td></tr>
</dd>
</dl>
<p class="reference">References <a class="el" href="classAccelStepper.html#affbee789b5c19165846cf0409860ae79">computeNewSpeed()</a>, and <a class="el" href="classAccelStepper.html#a4f0989d0ae264e7eadfe1fa720769fb6">speed()</a>.</p>
<p class="reference">References <a class="el" href="classAccelStepper.html#aab5944f43f869675958939c421bd9a01">computeNewSpeed()</a>, and <a class="el" href="classAccelStepper.html#a4f0989d0ae264e7eadfe1fa720769fb6">speed()</a>.</p>
<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a3bc75bd6571b98a6177838ca81ac39ab">AccelStepper()</a>.</p>
</div>
</div>
@@ -797,7 +835,8 @@ Protected Attributes</h2></td></tr>
</div><div class="memdoc">
<p>Sets the minimum pulse width allowed by the stepper driver. The minimum practical pulse width is approximately 20 microseconds. Times less than 20 microseconds will usually result in 20 microseconds or so. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">minWidth</td><td>The minimum pulse width in microseconds. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">minWidth</td><td>The minimum pulse width in microseconds. <br />
</td></tr>
</table>
</dd>
</dl>
@@ -955,7 +994,7 @@ Protected Attributes</h2></td></tr>
</dd>
</dl>
<p class="reference">References <a class="el" href="classAccelStepper.html#a35162cdf8ed9a98f98984c177d5ade58">_direction</a>, <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228a6959a4549f734bd771d418f995ba4fb4">DIRECTION_CCW</a>, <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228ad604e0047f7cb47662c5a1cf6999337c">DIRECTION_CW</a>, and <a class="el" href="classAccelStepper.html#a4f0989d0ae264e7eadfe1fa720769fb6">speed()</a>.</p>
<p class="reference">References <a class="el" href="classAccelStepper.html#a35162cdf8ed9a98f98984c177d5ade58">_direction</a>, <a class="el" href="classAccelStepper.html#a744fa74c2e181e75509a34b17c02e984">_stepInterval</a>, <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228a6959a4549f734bd771d418f995ba4fb4">DIRECTION_CCW</a>, <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228ad604e0047f7cb47662c5a1cf6999337c">DIRECTION_CW</a>, and <a class="el" href="classAccelStepper.html#a4f0989d0ae264e7eadfe1fa720769fb6">speed()</a>.</p>
<p class="reference">Referenced by <a class="el" href="classMultiStepper.html#a291fec32a79390b6eb00296cffac49ee">MultiStepper::moveTo()</a>.</p>
@@ -1013,7 +1052,7 @@ Protected Attributes</h2></td></tr>
<p class="reference">References <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5ac3523e4cf6763ba518d16fec3708ef23">DRIVER</a>, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a62a305b52f749ff8c89138273fbb012d">FULL2WIRE</a>, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a0b8eea5cf0f8ce70b1959d2977ccc996">FULL3WIRE</a>, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5adedd394a375190a3df8d4519c0d4dc2f">FULL4WIRE</a>, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5af5bb99ad9d67ad2d85f840e3abcfe068">FUNCTION</a>, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a00c2387a5af43d8e97639699ab7a5c7f">HALF3WIRE</a>, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5aecc0900c55b777d2e885581b8c434b07">HALF4WIRE</a>, <a class="el" href="classAccelStepper.html#aa2913db789e6fa05756579ff82fe6e7e">step0()</a>, <a class="el" href="classAccelStepper.html#a63ef416bc039da539294e84a41e7d7dc">step1()</a>, <a class="el" href="classAccelStepper.html#a674e48a6bf99e7ad1f013c1e4414565a">step2()</a>, <a class="el" href="classAccelStepper.html#ad73c61aade2e10243dfb02aefa7ab8fd">step3()</a>, <a class="el" href="classAccelStepper.html#a8910bd9218a54dfb7e2372a6d0bcca0c">step4()</a>, <a class="el" href="classAccelStepper.html#a4b0faf1ebc0c584ab606c0c0f66986b0">step6()</a>, and <a class="el" href="classAccelStepper.html#aa909c6c3fcd3ea4b3ee1aa8b4d0f7e87">step8()</a>.</p>
<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">runSpeed()</a>.</p>
<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">runSpeed()</a>, <a class="el" href="classAccelStepper.html#aa2913db789e6fa05756579ff82fe6e7e">step0()</a>, <a class="el" href="classAccelStepper.html#a63ef416bc039da539294e84a41e7d7dc">step1()</a>, <a class="el" href="classAccelStepper.html#a674e48a6bf99e7ad1f013c1e4414565a">step2()</a>, <a class="el" href="classAccelStepper.html#ad73c61aade2e10243dfb02aefa7ab8fd">step3()</a>, <a class="el" href="classAccelStepper.html#a8910bd9218a54dfb7e2372a6d0bcca0c">step4()</a>, <a class="el" href="classAccelStepper.html#a4b0faf1ebc0c584ab606c0c0f66986b0">step6()</a>, <a class="el" href="classAccelStepper.html#aa909c6c3fcd3ea4b3ee1aa8b4d0f7e87">step8()</a>, <a class="el" href="classAccelStepper.html#af8abc9ede47286fa33b518e0bf297c6a">stepBackward()</a>, and <a class="el" href="classAccelStepper.html#af4908b53e1821f0a6d2dab509257b3e6">stepForward()</a>.</p>
</div>
</div>
@@ -1047,6 +1086,8 @@ Protected Attributes</h2></td></tr>
</dd>
</dl>
<p class="reference">References <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p>
<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p>
</div>
@@ -1081,7 +1122,7 @@ Protected Attributes</h2></td></tr>
</dd>
</dl>
<p class="reference">References <a class="el" href="classAccelStepper.html#a35162cdf8ed9a98f98984c177d5ade58">_direction</a>, and <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>.</p>
<p class="reference">References <a class="el" href="classAccelStepper.html#a35162cdf8ed9a98f98984c177d5ade58">_direction</a>, <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>, and <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p>
<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p>
@@ -1117,7 +1158,7 @@ Protected Attributes</h2></td></tr>
</dd>
</dl>
<p class="reference">References <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>.</p>
<p class="reference">References <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>, and <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p>
<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p>
@@ -1153,7 +1194,7 @@ Protected Attributes</h2></td></tr>
</dd>
</dl>
<p class="reference">References <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>.</p>
<p class="reference">References <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>, and <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p>
<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p>
@@ -1189,7 +1230,7 @@ Protected Attributes</h2></td></tr>
</dd>
</dl>
<p class="reference">References <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>.</p>
<p class="reference">References <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>, and <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p>
<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p>
@@ -1225,7 +1266,7 @@ Protected Attributes</h2></td></tr>
</dd>
</dl>
<p class="reference">References <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>.</p>
<p class="reference">References <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>, and <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p>
<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p>
@@ -1254,17 +1295,73 @@ Protected Attributes</h2></td></tr>
</tr>
</table>
</div><div class="memdoc">
<p>Called to execute a step on a 4 pin half-steper motor. Only called when a new step is required. Subclasses may override to implement new stepping interfaces. The default sets or clears the outputs of pin1, pin2, pin3, pin4. </p><dl class="params"><dt>Parameters</dt><dd>
<p>Called to execute a step on a 4 pin half-stepper motor. Only called when a new step is required. Subclasses may override to implement new stepping interfaces. The default sets or clears the outputs of pin1, pin2, pin3, pin4. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">step</td><td>The current step phase number (0 to 7) </td></tr>
</table>
</dd>
</dl>
<p class="reference">References <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>.</p>
<p class="reference">References <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>, and <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p>
<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p>
</div>
</div>
<a id="af8abc9ede47286fa33b518e0bf297c6a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af8abc9ede47286fa33b518e0bf297c6a">&#9670;&nbsp;</a></span>stepBackward()</h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
<tr>
<td class="mlabels-left">
<table class="memname">
<tr>
<td class="memname">long AccelStepper::stepBackward </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</td>
<td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span> </td>
</tr>
</table>
</div><div class="memdoc">
<p>Called to execute a counter-clockwise(-) step. Only called when a new step is required. This decrements the _currentPos and calls <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a> </p><dl class="section return"><dt>Returns</dt><dd>the updated current position </dd></dl>
<p class="reference">References <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p>
</div>
</div>
<a id="af4908b53e1821f0a6d2dab509257b3e6"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af4908b53e1821f0a6d2dab509257b3e6">&#9670;&nbsp;</a></span>stepForward()</h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
<tr>
<td class="mlabels-left">
<table class="memname">
<tr>
<td class="memname">long AccelStepper::stepForward </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</td>
<td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span> </td>
</tr>
</table>
</div><div class="memdoc">
<p>Called to execute a clockwise(+) step. Only called when a new step is required. This increments the _currentPos and calls <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a> </p><dl class="section return"><dt>Returns</dt><dd>the updated current position </dd></dl>
<p class="reference">References <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p>
</div>
</div>
<a id="a638817b85aed9d5cd15c76a76c00aced"></a>
@@ -1327,7 +1424,32 @@ Protected Attributes</h2></td></tr>
</div><div class="memdoc">
<p>Current direction motor is spinning in Protected because some peoples subclasses need it to be so </p>
<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a3bc75bd6571b98a6177838ca81ac39ab">AccelStepper()</a>, <a class="el" href="classAccelStepper.html#affbee789b5c19165846cf0409860ae79">computeNewSpeed()</a>, <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">runSpeed()</a>, <a class="el" href="classAccelStepper.html#a9270d20336e76ac1fd5bcd5b9c34f301">runSpeedToPosition()</a>, <a class="el" href="classAccelStepper.html#ae79c49ad69d5ccc9da0ee691fa4ca235">setSpeed()</a>, and <a class="el" href="classAccelStepper.html#a63ef416bc039da539294e84a41e7d7dc">step1()</a>.</p>
<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a3bc75bd6571b98a6177838ca81ac39ab">AccelStepper()</a>, <a class="el" href="classAccelStepper.html#aab5944f43f869675958939c421bd9a01">computeNewSpeed()</a>, <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">runSpeed()</a>, <a class="el" href="classAccelStepper.html#a9270d20336e76ac1fd5bcd5b9c34f301">runSpeedToPosition()</a>, <a class="el" href="classAccelStepper.html#ae79c49ad69d5ccc9da0ee691fa4ca235">setSpeed()</a>, and <a class="el" href="classAccelStepper.html#a63ef416bc039da539294e84a41e7d7dc">step1()</a>.</p>
</div>
</div>
<a id="a744fa74c2e181e75509a34b17c02e984"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a744fa74c2e181e75509a34b17c02e984">&#9670;&nbsp;</a></span>_stepInterval</h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
<tr>
<td class="mlabels-left">
<table class="memname">
<tr>
<td class="memname">unsigned long AccelStepper::_stepInterval</td>
</tr>
</table>
</td>
<td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span> </td>
</tr>
</table>
</div><div class="memdoc">
<p>The current interval between steps in microseconds. 0 means the motor is currently stopped with _speed == 0 </p>
<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a3bc75bd6571b98a6177838ca81ac39ab">AccelStepper()</a>, <a class="el" href="classAccelStepper.html#aab5944f43f869675958939c421bd9a01">computeNewSpeed()</a>, <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">runSpeed()</a>, <a class="el" href="classAccelStepper.html#a9d917f014317fb9d3b5dc14e66f6c689">setCurrentPosition()</a>, and <a class="el" href="classAccelStepper.html#ae79c49ad69d5ccc9da0ee691fa4ca235">setSpeed()</a>.</p>
</div>
</div>
@@ -1338,9 +1460,7 @@ Protected Attributes</h2></td></tr>
</div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
Generated by &#160;<a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/>
</a> 1.8.13
Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
</small></address>
</body>
</html>