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Author SHA1 Message Date
waspinator
d54e55a358 1.59 2018-08-28 Update commercial licensing, remove binpress. 2019-09-25 14:30:44 -04:00
waspinator
b25c47ae8d Update README.md 2018-04-18 21:24:29 -04:00
waspinator
47ad3aeafc Update README.md 2018-04-18 21:21:44 -04:00
waspinator
5882093f46 updated to 1.58 
Add initialisation for _enableInverted in constructor.
 2018-04-14 14:21:10 -04:00
13 changed files with 439 additions and 369 deletions
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9
README.md
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@ -1,3 +1,9 @@
This fork follows the [upstream version](http://www.airspayce.com/mikem/arduino/AccelStepper/). Files are slightly reorganized to follow Arduino library conventions to allow for inclusion into the Arduino IDE library manager.
Please direct questions and discussion to http://groups.google.com/group/accelstepper
---
This is the Arduino AccelStepper library. It provides an object-oriented interface for 2, 3 or 4 pin stepper motors and motor drivers.
The standard Arduino IDE includes the Stepper library (http://arduino.cc/en/Reference/Stepper) for stepper motors. It is perfectly adequate for simple, single motor applications.
@ -14,6 +20,3 @@ AccelStepper significantly improves on the standard Arduino Stepper library in s
- Extensive API
- Subclass support
---
This fork follows the upstream version. Files are slightly reorganized to follow Arduino library conventions.

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<head>
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<head>
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<head>
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@ -175,7 +170,9 @@ Protected Attributes</h2></td></tr>
<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>
<a class="anchor" id="a7468f91a925c689c3ba250f8d074d228"></a>
<a id="a7468f91a925c689c3ba250f8d074d228"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7468f91a925c689c3ba250f8d074d228">&#9670;&nbsp;</a></span>Direction</h2>
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@ -195,17 +192,17 @@ Protected Attributes</h2></td></tr>
<p>Direction indicator Symbolic names for the direction the motor is turning. </p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a class="anchor" id="a7468f91a925c689c3ba250f8d074d228a6959a4549f734bd771d418f995ba4fb4"></a>DIRECTION_CCW&#160;</td><td class="fielddoc">
<p>Counter-Clockwise. </p>
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a7468f91a925c689c3ba250f8d074d228a6959a4549f734bd771d418f995ba4fb4"></a>DIRECTION_CCW&#160;</td><td class="fielddoc"><p>Counter-Clockwise. </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a7468f91a925c689c3ba250f8d074d228ad604e0047f7cb47662c5a1cf6999337c"></a>DIRECTION_CW&#160;</td><td class="fielddoc">
<p>Clockwise. </p>
<tr><td class="fieldname"><a id="a7468f91a925c689c3ba250f8d074d228ad604e0047f7cb47662c5a1cf6999337c"></a>DIRECTION_CW&#160;</td><td class="fielddoc"><p>Clockwise. </p>
</td></tr>
</table>
</div>
</div>
<a class="anchor" id="a73bdecf1273d98d8c5fbcb764cabeea5"></a>
<a id="a73bdecf1273d98d8c5fbcb764cabeea5"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a73bdecf1273d98d8c5fbcb764cabeea5">&#9670;&nbsp;</a></span>MotorInterfaceType</h2>
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@ -217,33 +214,28 @@ Protected Attributes</h2></td></tr>
<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 class="anchor" id="a73bdecf1273d98d8c5fbcb764cabeea5af5bb99ad9d67ad2d85f840e3abcfe068"></a>FUNCTION&#160;</td><td class="fielddoc">
<p>Use the functional interface, implementing your own driver functions (internal use only) </p>
<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>
<tr><td class="fieldname"><a class="anchor" id="a73bdecf1273d98d8c5fbcb764cabeea5ac3523e4cf6763ba518d16fec3708ef23"></a>DRIVER&#160;</td><td class="fielddoc">
<p>Stepper Driver, 2 driver pins required. </p>
<tr><td class="fieldname"><a id="a73bdecf1273d98d8c5fbcb764cabeea5ac3523e4cf6763ba518d16fec3708ef23"></a>DRIVER&#160;</td><td class="fielddoc"><p>Stepper Driver, 2 driver pins required. </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a73bdecf1273d98d8c5fbcb764cabeea5a62a305b52f749ff8c89138273fbb012d"></a>FULL2WIRE&#160;</td><td class="fielddoc">
<p>2 wire stepper, 2 motor pins required </p>
<tr><td class="fieldname"><a id="a73bdecf1273d98d8c5fbcb764cabeea5a62a305b52f749ff8c89138273fbb012d"></a>FULL2WIRE&#160;</td><td class="fielddoc"><p>2 wire stepper, 2 motor pins required </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a73bdecf1273d98d8c5fbcb764cabeea5a0b8eea5cf0f8ce70b1959d2977ccc996"></a>FULL3WIRE&#160;</td><td class="fielddoc">
<p>3 wire stepper, such as HDD spindle, 3 motor pins required </p>
<tr><td class="fieldname"><a id="a73bdecf1273d98d8c5fbcb764cabeea5a0b8eea5cf0f8ce70b1959d2977ccc996"></a>FULL3WIRE&#160;</td><td class="fielddoc"><p>3 wire stepper, such as HDD spindle, 3 motor pins required </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a73bdecf1273d98d8c5fbcb764cabeea5adedd394a375190a3df8d4519c0d4dc2f"></a>FULL4WIRE&#160;</td><td class="fielddoc">
<p>4 wire full stepper, 4 motor pins required </p>
<tr><td class="fieldname"><a id="a73bdecf1273d98d8c5fbcb764cabeea5adedd394a375190a3df8d4519c0d4dc2f"></a>FULL4WIRE&#160;</td><td class="fielddoc"><p>4 wire full stepper, 4 motor pins required </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a73bdecf1273d98d8c5fbcb764cabeea5a00c2387a5af43d8e97639699ab7a5c7f"></a>HALF3WIRE&#160;</td><td class="fielddoc">
<p>3 wire half stepper, such as HDD spindle, 3 motor pins required </p>
<tr><td class="fieldname"><a id="a73bdecf1273d98d8c5fbcb764cabeea5a00c2387a5af43d8e97639699ab7a5c7f"></a>HALF3WIRE&#160;</td><td class="fielddoc"><p>3 wire half stepper, such as HDD spindle, 3 motor pins required </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a73bdecf1273d98d8c5fbcb764cabeea5aecc0900c55b777d2e885581b8c434b07"></a>HALF4WIRE&#160;</td><td class="fielddoc">
<p>4 wire half stepper, 4 motor pins required </p>
<tr><td class="fieldname"><a id="a73bdecf1273d98d8c5fbcb764cabeea5aecc0900c55b777d2e885581b8c434b07"></a>HALF4WIRE&#160;</td><td class="fielddoc"><p>4 wire half stepper, 4 motor pins required </p>
</td></tr>
</table>
</div>
</div>
<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<a id="a3bc75bd6571b98a6177838ca81ac39ab"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3bc75bd6571b98a6177838ca81ac39ab">&#9670;&nbsp;</a></span>AccelStepper() <span class="overload">[1/2]</span></h2>
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</dd>
</dl>
<p>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#a7468f91a925c689c3ba250f8d074d228a6959a4549f734bd771d418f995ba4fb4">DIRECTION_CCW</a>, <a class="el" href="classAccelStepper.html#aa279a50d30d0413f570c692cff071643">enableOutputs()</a>, and <a class="el" href="classAccelStepper.html#adfb19e3cd2a028a1fe78131787604fd1">setAcceleration()</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#afa3061ce813303a8f2fa206ee8d012bd">&#9670;&nbsp;</a></span>AccelStepper() <span class="overload">[2/2]</span></h2>
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@ -337,12 +331,14 @@ Protected Attributes</h2></td></tr>
</dd>
</dl>
<p>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#a7468f91a925c689c3ba250f8d074d228a6959a4549f734bd771d418f995ba4fb4">DIRECTION_CCW</a>, and <a class="el" href="classAccelStepper.html#adfb19e3cd2a028a1fe78131787604fd1">setAcceleration()</a>.</p>
</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#affbee789b5c19165846cf0409860ae79">&#9670;&nbsp;</a></span>computeNewSpeed()</h2>
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@ -369,13 +365,15 @@ Protected Attributes</h2></td></tr>
<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>
</ul>
<p>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#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>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>
<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>
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<h2 class="memtitle"><span class="permalink"><a href="#a5dce13ab2a1b02b8f443318886bf6fc5">&#9670;&nbsp;</a></span>currentPosition()</h2>
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<p>The currently motor position. </p><dl class="section return"><dt>Returns</dt><dd>the current motor position in steps. Positive is clockwise from the 0 position. </dd></dl>
<p>Referenced by <a class="el" href="classMultiStepper.html#a291fec32a79390b6eb00296cffac49ee">MultiStepper::moveTo()</a>.</p>
<p class="reference">Referenced by <a class="el" href="classMultiStepper.html#a291fec32a79390b6eb00296cffac49ee">MultiStepper::moveTo()</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a3591e29a236e2935afd7f64ff6c22006">&#9670;&nbsp;</a></span>disableOutputs()</h2>
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<p>Disable motor pin outputs by setting them all LOW Depending on the design of your electronics this may turn off the power to the motor coils, saving power. This is useful to support Arduino low power modes: disable the outputs during sleep and then reenable with <a class="el" href="classAccelStepper.html#aa279a50d30d0413f570c692cff071643">enableOutputs()</a> before stepping again. If the enable Pin is defined, sets it to OUTPUT mode and clears the pin to disabled. </p>
<p>References <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>.</p>
<p class="reference">References <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a748665c3962e66fbc0e9373eb14c69c1">&#9670;&nbsp;</a></span>distanceToGo()</h2>
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<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>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#affbee789b5c19165846cf0409860ae79">computeNewSpeed()</a>, and <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#aa279a50d30d0413f570c692cff071643">&#9670;&nbsp;</a></span>enableOutputs()</h2>
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<p>Enable motor pin outputs by setting the motor pins to OUTPUT mode. Called automatically by the constructor. If the enable Pin is defined, sets it to OUTPUT mode and sets the pin to enabled. </p>
<p>References <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a0b8eea5cf0f8ce70b1959d2977ccc996">FULL3WIRE</a>, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5adedd394a375190a3df8d4519c0d4dc2f">FULL4WIRE</a>, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a00c2387a5af43d8e97639699ab7a5c7f">HALF3WIRE</a>, and <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5aecc0900c55b777d2e885581b8c434b07">HALF4WIRE</a>.</p>
<p class="reference">References <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a0b8eea5cf0f8ce70b1959d2977ccc996">FULL3WIRE</a>, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5adedd394a375190a3df8d4519c0d4dc2f">FULL4WIRE</a>, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a00c2387a5af43d8e97639699ab7a5c7f">HALF3WIRE</a>, and <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5aecc0900c55b777d2e885581b8c434b07">HALF4WIRE</a>.</p>
<p>Referenced by <a class="el" href="classAccelStepper.html#a3bc75bd6571b98a6177838ca81ac39ab">AccelStepper()</a>.</p>
<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a3bc75bd6571b98a6177838ca81ac39ab">AccelStepper()</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a3a60cc0b962f8ceb81ee1e6f36443ceb">&#9670;&nbsp;</a></span>isRunning()</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a6123a1dfb4495d8bd2646288eae60d7f">&#9670;&nbsp;</a></span>maxSpeed()</h2>
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<p>returns the maximum speed configured for this stepper that was previously set by <a class="el" href="classAccelStepper.html#abee8d466229b87accba33d6ec929c18f">setMaxSpeed()</a>; </p><dl class="section return"><dt>Returns</dt><dd>The currently configured maximum speed </dd></dl>
<p>Referenced by <a class="el" href="classMultiStepper.html#a291fec32a79390b6eb00296cffac49ee">MultiStepper::moveTo()</a>.</p>
<p class="reference">Referenced by <a class="el" href="classMultiStepper.html#a291fec32a79390b6eb00296cffac49ee">MultiStepper::moveTo()</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a68942c66e78fb7f7b5f0cdade6eb7f06">&#9670;&nbsp;</a></span>move()</h2>
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<p>References <a class="el" href="classAccelStepper.html#ace236ede35f87c63d18da25810ec9736">moveTo()</a>.</p>
<p class="reference">References <a class="el" href="classAccelStepper.html#ace236ede35f87c63d18da25810ec9736">moveTo()</a>.</p>
<p>Referenced by <a class="el" href="classAccelStepper.html#a638817b85aed9d5cd15c76a76c00aced">stop()</a>.</p>
<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a638817b85aed9d5cd15c76a76c00aced">stop()</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ace236ede35f87c63d18da25810ec9736">&#9670;&nbsp;</a></span>moveTo()</h2>
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<p>References <a class="el" href="classAccelStepper.html#affbee789b5c19165846cf0409860ae79">computeNewSpeed()</a>.</p>
<p class="reference">References <a class="el" href="classAccelStepper.html#affbee789b5c19165846cf0409860ae79">computeNewSpeed()</a>.</p>
<p>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>
<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>
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<h2 class="memtitle"><span class="permalink"><a href="#a608b2395b64ac15451d16d0371fe13ce">&#9670;&nbsp;</a></span>run()</h2>
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<p>Poll the motor and step it if a step is due, implementing accelerations and decelerations to acheive 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>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#affbee789b5c19165846cf0409860ae79">computeNewSpeed()</a>, <a class="el" href="classAccelStepper.html#a748665c3962e66fbc0e9373eb14c69c1">distanceToGo()</a>, and <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">runSpeed()</a>.</p>
<p>Referenced by <a class="el" href="classAccelStepper.html#a344f58fef8cc34ac5aa75ba4b665d21c">runToPosition()</a>.</p>
<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a344f58fef8cc34ac5aa75ba4b665d21c">runToPosition()</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#aa4a6bdf99f698284faaeb5542b0b7514">&#9670;&nbsp;</a></span>runSpeed()</h2>
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<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>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#a7468f91a925c689c3ba250f8d074d228ad604e0047f7cb47662c5a1cf6999337c">DIRECTION_CW</a>, and <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step()</a>.</p>
<p>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="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>
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<h2 class="memtitle"><span class="permalink"><a href="#a9270d20336e76ac1fd5bcd5b9c34f301">&#9670;&nbsp;</a></span>runSpeedToPosition()</h2>
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<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>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>
<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>
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<h2 class="memtitle"><span class="permalink"><a href="#a176c5d2e4c2f21e9e92b12e39a6f0e67">&#9670;&nbsp;</a></span>runToNewPosition()</h2>
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<p>References <a class="el" href="classAccelStepper.html#ace236ede35f87c63d18da25810ec9736">moveTo()</a>, and <a class="el" href="classAccelStepper.html#a344f58fef8cc34ac5aa75ba4b665d21c">runToPosition()</a>.</p>
<p class="reference">References <a class="el" href="classAccelStepper.html#ace236ede35f87c63d18da25810ec9736">moveTo()</a>, and <a class="el" href="classAccelStepper.html#a344f58fef8cc34ac5aa75ba4b665d21c">runToPosition()</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a344f58fef8cc34ac5aa75ba4b665d21c">&#9670;&nbsp;</a></span>runToPosition()</h2>
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<p>Moves the motor (with acceleration/deceleration) to the target position and blocks until it is at position. Dont use this in event loops, since it blocks. </p>
<p>References <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a>.</p>
<p class="reference">References <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a>.</p>
<p>Referenced by <a class="el" href="classAccelStepper.html#a176c5d2e4c2f21e9e92b12e39a6f0e67">runToNewPosition()</a>.</p>
<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a176c5d2e4c2f21e9e92b12e39a6f0e67">runToNewPosition()</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#adfb19e3cd2a028a1fe78131787604fd1">&#9670;&nbsp;</a></span>setAcceleration()</h2>
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<p>References <a class="el" href="classAccelStepper.html#affbee789b5c19165846cf0409860ae79">computeNewSpeed()</a>.</p>
<p class="reference">References <a class="el" href="classAccelStepper.html#affbee789b5c19165846cf0409860ae79">computeNewSpeed()</a>.</p>
<p>Referenced by <a class="el" href="classAccelStepper.html#a3bc75bd6571b98a6177838ca81ac39ab">AccelStepper()</a>.</p>
<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#a3bc75bd6571b98a6177838ca81ac39ab">AccelStepper()</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a9d917f014317fb9d3b5dc14e66f6c689">&#9670;&nbsp;</a></span>setCurrentPosition()</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a56a81c5f00d02ca19646718e88e974c0">&#9670;&nbsp;</a></span>setEnablePin()</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#abee8d466229b87accba33d6ec929c18f">&#9670;&nbsp;</a></span>setMaxSpeed()</h2>
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<p>Sets the maximum permitted speed. The <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a> function will accelerate up to the speed set by this function. Caution: the maximum speed achievable depends on your processor and clock speed. </p><dl class="params"><dt>Parameters</dt><dd>
<p>Sets the maximum permitted speed. The <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run()</a> function will accelerate up to the speed set by this function. Caution: the maximum speed achievable depends on your processor and clock speed. The default maxSpeed is 1.0 steps per second. </p><dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramdir">[in]</td><td class="paramname">speed</td><td>The desired maximum speed in steps per second. Must be &gt; 0. Caution: Speeds that exceed the maximum speed supported by the processor may Result in non-linear accelerations and decelerations. </td></tr>
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<p>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#affbee789b5c19165846cf0409860ae79">computeNewSpeed()</a>, and <a class="el" href="classAccelStepper.html#a4f0989d0ae264e7eadfe1fa720769fb6">speed()</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#af4d3818e691dad5dc518308796ccf154">&#9670;&nbsp;</a></span>setMinPulseWidth()</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#af3c2516b6ce7c1ecbc2004107bb2a9ce">&#9670;&nbsp;</a></span>setOutputPins()</h2>
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<p>Low level function to set the motor output pins bit 0 of the mask corresponds to _pin[0] bit 1 of the mask corresponds to _pin[1] You can override this to impment, for example serial chip output insted of using the output pins directly </p>
<p>References <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a0b8eea5cf0f8ce70b1959d2977ccc996">FULL3WIRE</a>, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5adedd394a375190a3df8d4519c0d4dc2f">FULL4WIRE</a>, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a00c2387a5af43d8e97639699ab7a5c7f">HALF3WIRE</a>, and <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5aecc0900c55b777d2e885581b8c434b07">HALF4WIRE</a>.</p>
<p class="reference">References <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a0b8eea5cf0f8ce70b1959d2977ccc996">FULL3WIRE</a>, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5adedd394a375190a3df8d4519c0d4dc2f">FULL4WIRE</a>, <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a00c2387a5af43d8e97639699ab7a5c7f">HALF3WIRE</a>, and <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5aecc0900c55b777d2e885581b8c434b07">HALF4WIRE</a>.</p>
<p>Referenced by <a class="el" href="classAccelStepper.html#a3591e29a236e2935afd7f64ff6c22006">disableOutputs()</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#a3591e29a236e2935afd7f64ff6c22006">disableOutputs()</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>
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<h2 class="memtitle"><span class="permalink"><a href="#ac62cae590c2f9c303519a3a1c4adc8ab">&#9670;&nbsp;</a></span>setPinsInverted() <span class="overload">[1/2]</span></h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a38298ac2dd852fb22259f6c4bbe08c94">&#9670;&nbsp;</a></span>setPinsInverted() <span class="overload">[2/2]</span></h2>
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<h2 class="memtitle"><span class="permalink"><a href="#ae79c49ad69d5ccc9da0ee691fa4ca235">&#9670;&nbsp;</a></span>setSpeed()</h2>
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<p>Sets the desired constant speed for use with <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">runSpeed()</a>. </p><dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramdir">[in]</td><td class="paramname">speed</td><td>The desired constant speed in steps per second. Positive is clockwise. Speeds of more than 1000 steps per second are unreliable. Very slow speeds may be set (eg 0.00027777 for once per hour, approximately. Speed accuracy depends on the Arduino crystal. Jitter depends on how frequently you call the <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">runSpeed()</a> function. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">speed</td><td>The desired constant speed in steps per second. Positive is clockwise. Speeds of more than 1000 steps per second are unreliable. Very slow speeds may be set (eg 0.00027777 for once per hour, approximately. Speed accuracy depends on the Arduino crystal. Jitter depends on how frequently you call the <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">runSpeed()</a> function. The speed will be limited by the current value of <a class="el" href="classAccelStepper.html#abee8d466229b87accba33d6ec929c18f">setMaxSpeed()</a> </td></tr>
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<p>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#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>Referenced by <a class="el" href="classMultiStepper.html#a291fec32a79390b6eb00296cffac49ee">MultiStepper::moveTo()</a>.</p>
<p class="reference">Referenced by <a class="el" href="classMultiStepper.html#a291fec32a79390b6eb00296cffac49ee">MultiStepper::moveTo()</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a4f0989d0ae264e7eadfe1fa720769fb6">&#9670;&nbsp;</a></span>speed()</h2>
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<p>The most recently set speed </p><dl class="section return"><dt>Returns</dt><dd>the most recent speed in steps per second </dd></dl>
<p>Referenced by <a class="el" href="classAccelStepper.html#abee8d466229b87accba33d6ec929c18f">setMaxSpeed()</a>, and <a class="el" href="classAccelStepper.html#ae79c49ad69d5ccc9da0ee691fa4ca235">setSpeed()</a>.</p>
<p class="reference">Referenced by <a class="el" href="classAccelStepper.html#abee8d466229b87accba33d6ec929c18f">setMaxSpeed()</a>, and <a class="el" href="classAccelStepper.html#ae79c49ad69d5ccc9da0ee691fa4ca235">setSpeed()</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a8a419121702399d8ac66df4cc47481f4">&#9670;&nbsp;</a></span>step()</h2>
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<p>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">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>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>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#aa2913db789e6fa05756579ff82fe6e7e">&#9670;&nbsp;</a></span>step0()</h2>
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<p>Referenced by <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>
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<h2 class="memtitle"><span class="permalink"><a href="#a63ef416bc039da539294e84a41e7d7dc">&#9670;&nbsp;</a></span>step1()</h2>
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<p>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>, and <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>.</p>
<p>Referenced by <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>
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<h2 class="memtitle"><span class="permalink"><a href="#a674e48a6bf99e7ad1f013c1e4414565a">&#9670;&nbsp;</a></span>step2()</h2>
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<p>References <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>.</p>
<p class="reference">References <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>.</p>
<p>Referenced by <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>
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<h2 class="memtitle"><span class="permalink"><a href="#ad73c61aade2e10243dfb02aefa7ab8fd">&#9670;&nbsp;</a></span>step3()</h2>
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<p>References <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>.</p>
<p class="reference">References <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>.</p>
<p>Referenced by <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>
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<h2 class="memtitle"><span class="permalink"><a href="#a8910bd9218a54dfb7e2372a6d0bcca0c">&#9670;&nbsp;</a></span>step4()</h2>
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<p>References <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>.</p>
<p class="reference">References <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>.</p>
<p>Referenced by <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>
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<h2 class="memtitle"><span class="permalink"><a href="#a4b0faf1ebc0c584ab606c0c0f66986b0">&#9670;&nbsp;</a></span>step6()</h2>
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<p>References <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>.</p>
<p class="reference">References <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>.</p>
<p>Referenced by <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>
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<h2 class="memtitle"><span class="permalink"><a href="#aa909c6c3fcd3ea4b3ee1aa8b4d0f7e87">&#9670;&nbsp;</a></span>step8()</h2>
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<p>References <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>.</p>
<p class="reference">References <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins()</a>.</p>
<p>Referenced by <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>
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<h2 class="memtitle"><span class="permalink"><a href="#a638817b85aed9d5cd15c76a76c00aced">&#9670;&nbsp;</a></span>stop()</h2>
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@ -1221,11 +1281,13 @@ Protected Attributes</h2></td></tr>
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<p>Sets a new target position that causes the stepper to stop as quickly as possible, using the current speed and acceleration parameters. </p>
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<h2 class="groupheader">Member Data Documentation</h2>
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<p>Current direction motor is spinning in Protected because some peoples subclasses need it to be so </p>
<p>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#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>
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Generated by &#160;<a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/>
</a> 1.8.11
</a> 1.8.13
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28
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69
extras/doc/functions_func.html
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<h3><a id="index_r"></a>- r -</h3><ul>
<li>run()
: <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">AccelStepper</a>
, <a class="el" href="classMultiStepper.html#a26c2f53b1e7ddf5d5dfb333f6fb7fb92">MultiStepper</a>
@ -148,7 +121,7 @@
</ul>
<h3><a class="anchor" id="index_s"></a>- s -</h3><ul>
<h3><a id="index_s"></a>- s -</h3><ul>
<li>setAcceleration()
: <a class="el" href="classAccelStepper.html#adfb19e3cd2a028a1fe78131787604fd1">AccelStepper</a>
</li>
@ -206,7 +179,7 @@
</ul>
<h3><a class="anchor" id="index_t"></a>- t -</h3><ul>
<h3><a id="index_t"></a>- t -</h3><ul>
<li>targetPosition()
: <a class="el" href="classAccelStepper.html#a96685e0945b7cf75d5959da679cd911e">AccelStepper</a>
</li>
@ -216,7 +189,7 @@
<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> 1.8.11
</a> 1.8.13
</small></address>
</body>
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37
extras/doc/index.html
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@ -3,7 +3,8 @@
<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 1.8.11"/>
<meta name="generator" content="Doxygen 1.8.13"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>AccelStepper: AccelStepper library for Arduino</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
@ -25,15 +26,15 @@
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.11 -->
<div id="navrow1" class="tabs">
<ul class="tablist">
<li class="current"><a href="index.html"><span>Main&#160;Page</span></a></li>
<li><a href="annotated.html"><span>Classes</span></a></li>
<li><a href="files.html"><span>Files</span></a></li>
<li><a href="examples.html"><span>Examples</span></a></li>
</ul>
</div>
<!-- Generated by Doxygen 1.8.13 -->
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
$(function() {
initMenu('',false,false,'search.php','Search');
});
</script>
<div id="main-nav"></div>
</div><!-- top -->
<div class="header">
<div class="headertitle">
@ -53,7 +54,7 @@
<li>Extensive API </li>
<li>Subclass support</li>
</ul>
<p>The latest version of this documentation can be downloaded from <a href="http://www.airspayce.com/mikem/arduino/AccelStepper">http://www.airspayce.com/mikem/arduino/AccelStepper</a> The version of the package that this documentation refers to can be downloaded from <a href="http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.57.zip">http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.57.zip</a></p>
<p>The latest version of this documentation can be downloaded from <a href="http://www.airspayce.com/mikem/arduino/AccelStepper">http://www.airspayce.com/mikem/arduino/AccelStepper</a> The version of the package that this documentation refers to can be downloaded from <a href="http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.59.zip">http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.59.zip</a></p>
<p>Example Arduino programs are included to show the main modes of use.</p>
<p>You can also find online help and discussion at <a href="http://groups.google.com/group/accelstepper">http://groups.google.com/group/accelstepper</a> Please use that group for all questions and discussions on this topic. Do not contact the author directly, unless it is to discuss commercial licensing. Before asking a question or reporting a bug, please read</p><ul>
<li><a href="http://en.wikipedia.org/wiki/Wikipedia:Reference_desk/How_to_ask_a_software_question">http://en.wikipedia.org/wiki/Wikipedia:Reference_desk/How_to_ask_a_software_question</a></li>
@ -73,9 +74,9 @@
<dl class="section user"><dt>Trademarks</dt><dd></dd></dl>
<p><a class="el" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc. ">AccelStepper</a> is a trademark of AirSpayce Pty Ltd. The <a class="el" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc. ">AccelStepper</a> mark was first used on April 26 2010 for international trade, and is used only in relation to motor control hardware and software. It is not to be confused with any other similar marks covering other goods and services.</p>
<dl class="section user"><dt>Copyright</dt><dd></dd></dl>
<p>This software is Copyright (C) 2010 Mike McCauley. Use is subject to license conditions. The main licensing options available are GPL V2 or Commercial:</p>
<p>This software is Copyright (C) 2010-2018 Mike McCauley. Use is subject to license conditions. The main licensing options available are GPL V2 or Commercial:</p>
<dl class="section user"><dt>Open Source Licensing GPL V2</dt><dd>This is the appropriate option if you want to share the source code of your application with everyone you distribute it to, and you also want to give them the right to share who uses it. If you wish to use this software under Open Source Licensing, you must contribute all your source code to the open source community in accordance with the GPL Version 2 when your application is distributed. See <a href="https://www.gnu.org/licenses/gpl-2.0.html">https://www.gnu.org/licenses/gpl-2.0.html</a></dd></dl>
<dl class="section user"><dt>Commercial Licensing</dt><dd>This is the appropriate option if you are creating proprietary applications and you are not prepared to distribute and share the source code of your application. Purchase commercial licenses at <a href="http://airspayce.binpress.com/">http://airspayce.binpress.com/</a></dd></dl>
<dl class="section user"><dt>Commercial Licensing</dt><dd>This is the appropriate option if you are creating proprietary applications and you are not prepared to distribute and share the source code of your application. To purchase a commercial license, contact <a href="#" onclick="location.href='mai'+'lto:'+'inf'+'o@'+'air'+'sp'+'ayc'+'e.'+'com'; return false;">info@<span style="display: none;">.nosp@m.</span>airs<span style="display: none;">.nosp@m.</span>payce<span style="display: none;">.nosp@m.</span>.com</a></dd></dl>
<dl class="section user"><dt>Revision History</dt><dd></dd></dl>
<dl class="section version"><dt>Version</dt><dd>1.0 Initial release</dd>
<dd>
@ -133,7 +134,7 @@
<dd>
1.27 Added stop() function to stop as fast as possible with current acceleration parameters. Also added new Quickstop example showing its use. </dd>
<dd>
1.28 Fixed another problem where certain combinations of speed and accelration could cause oscillation about the target position. Added support for 3 wire full and half steppers such as Hard Disk Drive spindle. Contributed by Yuri Ivatchkovitch. </dd>
1.28 Fixed another problem where certain combinations of speed and acceleration could cause oscillation about the target position. Added support for 3 wire full and half steppers such as Hard Disk Drive spindle. Contributed by Yuri Ivatchkovitch. </dd>
<dd>
1.29 Fixed a problem that could cause a DRIVER stepper to continually step with some sketches. Reported by Vadim. </dd>
<dd>
@ -204,14 +205,18 @@
<dd>
1.56 2017-02-03 Fixed minor documentation error with DIRECTION_CCW and DIRECTION_CW. Reported by David Mutterer. Added link to Binpress commercial license purchasing. </dd>
<dd>
1.57 2017-03-28 _direction moved to protected at the request of Rudy Ercek. setMaxSpeed() and setAcceleration() now correct negative values to be positive.</dd></dl>
1.57 2017-03-28 _direction moved to protected at the request of Rudy Ercek. setMaxSpeed() and setAcceleration() now correct negative values to be positive. </dd>
<dd>
1.58 2018-04-13 Add initialisation for _enableInverted in constructor. </dd>
<dd>
1.59 2018-08-28 Update commercial licensing, remove binpress.</dd></dl>
<dl class="section author"><dt>Author</dt><dd>Mike McCauley (<a href="#" onclick="location.href='mai'+'lto:'+'mik'+'em'+'@ai'+'rs'+'pay'+'ce'+'.co'+'m'; return false;">mikem<span style="display: none;">.nosp@m.</span>@air<span style="display: none;">.nosp@m.</span>spayc<span style="display: none;">.nosp@m.</span>e.co<span style="display: none;">.nosp@m.</span>m</a>) DO NOT CONTACT THE AUTHOR DIRECTLY: USE THE LISTS </dd></dl>
</div></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> 1.8.11
</a> 1.8.13
</small></address>
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2
library.properties
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@ -1,5 +1,5 @@
name=AccelStepper
version=1.57.1
version=1.59
author=Mike McCauley <mikem@airspayce.com>
maintainer=Patrick Wasp <patrickwasp@gmail.com>
sentence=Allows Arduino boards to control a variety of stepper motors.

1
src/AccelStepper.cpp
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@ -204,6 +204,7 @@ AccelStepper::AccelStepper(uint8_t interface, uint8_t pin1, uint8_t pin2, uint8_
_pin[1] = pin2;
_pin[2] = pin3;
_pin[3] = pin4;
_enableInverted = false;
// NEW
_n = 0;

14
src/AccelStepper.h
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@ -23,7 +23,7 @@
/// The latest version of this documentation can be downloaded from
/// http://www.airspayce.com/mikem/arduino/AccelStepper
/// The version of the package that this documentation refers to can be downloaded
/// from http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.57.zip
/// from http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.59.zip
///
/// Example Arduino programs are included to show the main modes of use.
///
@ -81,7 +81,7 @@
///
/// \par Copyright
///
/// This software is Copyright (C) 2010 Mike McCauley. Use is subject to license
/// This software is Copyright (C) 2010-2018 Mike McCauley. Use is subject to license
/// conditions. The main licensing options available are GPL V2 or Commercial:
///
/// \par Open Source Licensing GPL V2
@ -95,7 +95,7 @@
/// \par Commercial Licensing
/// This is the appropriate option if you are creating proprietary applications
/// and you are not prepared to distribute and share the source code of your
/// application. Purchase commercial licenses at http://airspayce.binpress.com/
/// application. To purchase a commercial license, contact info@airspayce.com
///
/// \par Revision History
/// \version 1.0 Initial release
@ -158,7 +158,7 @@
/// oscillation about the target position.
/// \version 1.27 Added stop() function to stop as fast as possible with current acceleration parameters.
/// Also added new Quickstop example showing its use.
/// \version 1.28 Fixed another problem where certain combinations of speed and accelration could cause
/// \version 1.28 Fixed another problem where certain combinations of speed and acceleration could cause
/// oscillation about the target position.
/// Added support for 3 wire full and half steppers such as Hard Disk Drive spindle.
/// Contributed by Yuri Ivatchkovitch.
@ -240,6 +240,10 @@
/// \version 1.57 2017-03-28
/// _direction moved to protected at the request of Rudy Ercek.
/// setMaxSpeed() and setAcceleration() now correct negative values to be positive.
/// \version 1.58 2018-04-13
/// Add initialisation for _enableInverted in constructor.
/// \version 1.59 2018-08-28
/// Update commercial licensing, remove binpress.
///
/// \author Mike McCauley (mikem@airspayce.com) DO NOT CONTACT THE AUTHOR DIRECTLY: USE THE LISTS
// Copyright (C) 2009-2013 Mike McCauley
@ -393,6 +397,7 @@ public:
/// Sets the maximum permitted speed. The run() function will accelerate
/// up to the speed set by this function.
/// Caution: the maximum speed achievable depends on your processor and clock speed.
/// The default maxSpeed is 1.0 steps per second.
/// \param[in] speed The desired maximum speed in steps per second. Must
/// be > 0. Caution: Speeds that exceed the maximum speed supported by the processor may
/// Result in non-linear accelerations and decelerations.
@ -415,6 +420,7 @@ public:
/// second are unreliable. Very slow speeds may be set (eg 0.00027777 for
/// once per hour, approximately. Speed accuracy depends on the Arduino
/// crystal. Jitter depends on how frequently you call the runSpeed() function.
/// The speed will be limited by the current value of setMaxSpeed()
void setSpeed(float speed);
/// The most recently set speed