#include <AccelStepper.h>

Inherited by MCP3017AccelStepper.

Public Types
enum	MotorInterfaceType { FUNCTION = 0 , DRIVER = 1 , FULL2WIRE = 2 , FULL3WIRE = 3 , FULL4WIRE = 4 , HALF3WIRE = 6 , HALF4WIRE = 8 }

Public Member Functions
	AccelStepper (uint8_t interface=AccelStepper::FULL4WIRE, uint8_t pin1=2, uint8_t pin2=3, uint8_t pin3=4, uint8_t pin4=5, bool enable=true)

	AccelStepper (void(forward)(), void(backward)())

void	moveTo (long absolute)

void	move (long relative)

boolean	run ()

boolean	runSpeed ()

void	setMaxSpeed (float speed)

float	maxSpeed ()

void	setAcceleration (float acceleration)

void	setSpeed (float speed)

float	speed ()

long	distanceToGo ()

long	targetPosition ()

long	currentPosition ()

void	setCurrentPosition (long position)

void	runToPosition ()

boolean	runSpeedToPosition ()

void	runToNewPosition (long position)

void	stop ()

virtual void	disableOutputs ()

virtual void	enableOutputs ()

void	setMinPulseWidth (unsigned int minWidth)

void	setEnablePin (uint8_t enablePin=0xff)

void	setPinsInverted (bool directionInvert=false, bool stepInvert=false, bool enableInvert=false)

void	setPinsInverted (bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert)

bool	isRunning ()

Protected Types
enum	Direction { DIRECTION_CCW = 0 , DIRECTION_CW = 1 }

Protected Member Functions
void	computeNewSpeed ()

virtual void	setOutputPins (uint8_t mask)

virtual void	step (long step)

virtual void	step0 (long step)

virtual void	step1 (long step)

virtual void	step2 (long step)

virtual void	step3 (long step)

virtual void	step4 (long step)

virtual void	step6 (long step)

virtual void	step8 (long step)

Protected Attributes
boolean	_direction

uint8_t	_interface

uint8_t	_pin [4]

uint8_t	_pinInverted [4]
	Whether the _pins is inverted or not.

long	_currentPos
	The current absolution position in steps.

long	_targetPos

float	_speed

float	_maxSpeed
	The maximum permitted speed in steps per second. Must be > 0.

float	_acceleration

unsigned long	_stepInterval

unsigned long	_lastStepTime
	The last step time in microseconds.

unsigned int	_minPulseWidth
	The minimum allowed pulse width in microseconds.

bool	_enableInverted
	Is the enable pin inverted? More...

uint8_t	_enablePin
	Enable pin for stepper driver, or 0xFF if unused.

void(*	_forward )()
	The pointer to a forward-step procedure.

void(*	_backward )()
	The pointer to a backward-step procedure.

long	_n
	The step counter for speed calculations.

float	_c0
	Initial step size in microseconds.

float	_cn
	Last step size in microseconds.

float	_cmin
	Min step size in microseconds based on maxSpeed.

Detailed Description

Support for stepper motors with acceleration etc.

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.

Operation: 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 run() function steps the motor once if a new step is due. The run() function must be called frequently until the motor is in the desired position, after which time run() will do nothing.

Positioning: 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.

Caveats: This is an open loop controller: If the motor stalls or is oversped, AccelStepper 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 think it is, relative to the initial starting point).

Performance: 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 run() function is called frequently enough to step the motor whenever required for the speed set. Calling setAcceleration() is expensive, since it requires a square root to be calculated.

Gregor Christandl reports that with an Arduino Due and a simple test program, he measured 43163 steps per second using runSpeed(), and 16214 steps per second using run();

Definition at line 325 of file AccelStepper.h.

Member Enumeration Documentation

◆ Direction

enum AccelStepper::Direction

protected

Direction indicator Symbolic names for the direction the motor is turning

Enumerator
DIRECTION_CCW	Counter-Clockwise.
DIRECTION_CW	Clockwise.

Definition at line 541 of file AccelStepper.h.

◆ MotorInterfaceType

enum AccelStepper::MotorInterfaceType

Symbolic names for number of pins. Use this in the pins argument the AccelStepper constructor to provide a symbolic name for the number of pins to use.

Enumerator
FUNCTION	Use the functional interface, implementing your own driver functions (internal use only)
DRIVER	Stepper Driver, 2 driver pins required.
FULL2WIRE	2 wire stepper, 2 motor pins required
FULL3WIRE	3 wire stepper, such as HDD spindle, 3 motor pins required
FULL4WIRE	4 wire full stepper, 4 motor pins required
HALF3WIRE	3 wire half stepper, such as HDD spindle, 3 motor pins required
HALF4WIRE	4 wire half stepper, 4 motor pins required

Definition at line 332 of file AccelStepper.h.

Constructor & Destructor Documentation

◆ AccelStepper() [1/2]

AccelStepper::AccelStepper	(	uint8_t	interface = `AccelStepper::FULL4WIRE`,
		uint8_t	pin1 = `2`,
		uint8_t	pin2 = `3`,
		uint8_t	pin3 = `4`,
		uint8_t	pin4 = `5`,
		bool	enable = `true`
	)

Constructor. You can have multiple simultaneous steppers, all moving at different speeds and accelerations, provided you call their run() 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 enableOutputs().

Parameters

[in]	interface	Number of pins to interface to. Integer values are supported, but it is preferred to use the MotorInterfaceType symbolic names. AccelStepper::DRIVER (1) means a stepper driver (with Step and Direction pins). If an enable line is also needed, call setEnablePin() after construction. You may also invert the pins using setPinsInverted(). Caution: DRIVER implements a blocking delay of minPulseWidth microseconds (default 1us) for each step. You can change this with setMinPulseWidth(). AccelStepper::FULL2WIRE (2) means a 2 wire stepper (2 pins required). AccelStepper::FULL3WIRE (3) means a 3 wire stepper, such as HDD spindle (3 pins required). AccelStepper::FULL4WIRE (4) means a 4 wire stepper (4 pins required). AccelStepper::HALF3WIRE (6) means a 3 wire half stepper, such as HDD spindle (3 pins required) AccelStepper::HALF4WIRE (8) means a 4 wire half stepper (4 pins required) Defaults to AccelStepper::FULL4WIRE (4) pins.
[in]	pin1	Arduino digital pin number for motor pin 1. Defaults to pin 2. For a AccelStepper::DRIVER (interface==1), this is the Step input to the driver. Low to high transition means to step)
[in]	pin2	Arduino digital pin number for motor pin 2. Defaults to pin 3. For a AccelStepper::DRIVER (interface==1), this is the Direction input the driver. High means forward.
[in]	pin3	Arduino digital pin number for motor pin 3. Defaults to pin 4.
[in]	pin4	Arduino digital pin number for motor pin 4. Defaults to pin 5.
[in]	enable	If this is true (the default), enableOutputs() will be called to enable the output pins at construction time.

Definition at line 190 of file AccelStepper.cpp.

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◆ AccelStepper() [2/2]

AccelStepper::AccelStepper	(	void(*)()	forward,
		void(*)()	backward
	)

Alternate Constructor which will call your own functions for forward and backward steps. You can have multiple simultaneous steppers, all moving at different speeds and accelerations, provided you call their run() functions at frequent enough intervals. Current Position is set to 0, target position is set to 0. MaxSpeed and Acceleration default to 1.0. Any motor initialization should happen before hand, no pins are used or initialized.

Parameters

[in]	forward	void-returning procedure that will make a forward step
[in]	backward	void-returning procedure that will make a backward step

Definition at line 225 of file AccelStepper.cpp.

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Member Function Documentation

◆ computeNewSpeed()

void AccelStepper::computeNewSpeed ( )

protected

Forces the library to compute a new instantaneous speed and set that as the current speed. It is called by the library:

after each step
after change to maxSpeed through setMaxSpeed()
after change to acceleration through setAcceleration()
after change to target position (relative or absolute) through move() or moveTo()

Definition at line 97 of file AccelStepper.cpp.

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◆ currentPosition()

long AccelStepper::currentPosition ( )

The current motor position.

Returns: the current motor position in steps. Positive is clockwise from the 0 position.

Definition at line 82 of file AccelStepper.cpp.

◆ disableOutputs()

void AccelStepper::disableOutputs ( )

virtual

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 enableOutputs() before stepping again. If the enable Pin is defined, sets it to OUTPUT mode and clears the pin to disabled.

Definition at line 543 of file AccelStepper.cpp.

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◆ distanceToGo()

long AccelStepper::distanceToGo ( )

The distance from the current position to the target position.

Returns: the distance from the current position to the target position in steps. Positive is clockwise from the current position.

Definition at line 72 of file AccelStepper.cpp.

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◆ enableOutputs()

void AccelStepper::enableOutputs ( )

virtual

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.

Definition at line 555 of file AccelStepper.cpp.

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◆ isRunning()

bool AccelStepper::isRunning ( )

Checks to see if the motor is currently running to a target

Returns: true if the speed is not zero or not at the target position

Definition at line 649 of file AccelStepper.cpp.

◆ maxSpeed()

float AccelStepper::maxSpeed ( )

Returns the maximum speed configured for this stepper that was previously set by setMaxSpeed();

Returns: The currently configured maximum speed

Definition at line 276 of file AccelStepper.cpp.

◆ move()

void AccelStepper::move ( long relative )

Set the target position relative to the current position.

Parameters

[in] relative The desired position relative to the current position. Negative is anticlockwise from the current position.

Definition at line 33 of file AccelStepper.cpp.

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◆ moveTo()

void AccelStepper::moveTo ( long absolute )

Set the target position. The run() function will try to move the motor (at most one step per call) from the current position to the target position set by the most recent call to this function. Caution: moveTo() also recalculates the speed for the next step. If you are trying to use constant speed movements, you should call setSpeed() after calling moveTo().

Parameters

[in] absolute The desired absolute position. Negative is anticlockwise from the 0 position.

Definition at line 23 of file AccelStepper.cpp.

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◆ run()

boolean AccelStepper::run ( )

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 run() 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.

Returns: true if the motor is still running to the target position.

Definition at line 183 of file AccelStepper.cpp.

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◆ runSpeed()

boolean AccelStepper::runSpeed ( )

Poll the motor and step it if a step is due, implementing a constant speed as set by the most recent call to setSpeed(). You must call this as frequently as possible, but at least once per step interval,

Returns: true if the motor was stepped.

Definition at line 41 of file AccelStepper.cpp.

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◆ runSpeedToPosition()

boolean AccelStepper::runSpeedToPosition ( )

Runs at the currently selected speed until the target position is reached. Does not implement accelerations.

Returns: true if it stepped

Definition at line 619 of file AccelStepper.cpp.

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◆ runToNewPosition()

void AccelStepper::runToNewPosition ( long position )

Moves the motor (with acceleration/deceleration) to the new target position and blocks until it is at position. Dont use this in event loops, since it blocks.

Parameters

[in] position The new target position.

Definition at line 631 of file AccelStepper.cpp.

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◆ runToPosition()

void AccelStepper::runToPosition ( )

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.

Definition at line 613 of file AccelStepper.cpp.

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◆ setAcceleration()

void AccelStepper::setAcceleration ( float acceleration )

Sets the acceleration/deceleration rate.

Parameters

[in] acceleration The desired acceleration in steps per second per second. Must be > 0.0. This is an expensive call since it requires a square root to be calculated. Dont call more ofthen than needed

Definition at line 281 of file AccelStepper.cpp.

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◆ setCurrentPosition()

void AccelStepper::setCurrentPosition ( long position )

Resets the current position of the motor, so that wherever the motor happens to be right now is considered to be the new 0 position. Useful for setting a zero position on a stepper after an initial hardware positioning move. Has the side effect of setting the current motor speed to 0.

Parameters

[in] position The position in steps of wherever the motor happens to be right now.

Definition at line 89 of file AccelStepper.cpp.

◆ setEnablePin()

void AccelStepper::setEnablePin ( uint8_t enablePin = 0xff )

Sets the enable pin number for stepper drivers. 0xFF indicates unused (default). Otherwise, if a pin is set, the pin will be turned on when enableOutputs() is called and switched off when disableOutputs() is called.

Parameters

[in] enablePin Arduino digital pin number for motor enable

See also: setPinsInverted

Definition at line 584 of file AccelStepper.cpp.

◆ setMaxSpeed()

void AccelStepper::setMaxSpeed ( float speed )

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.

Parameters

[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.

Definition at line 259 of file AccelStepper.cpp.

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◆ setMinPulseWidth()

void AccelStepper::setMinPulseWidth ( unsigned int minWidth )

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.

Parameters

[in] minWidth The minimum pulse width in microseconds.

Definition at line 579 of file AccelStepper.cpp.

◆ setOutputPins()

void AccelStepper::setOutputPins ( uint8_t mask )

protectedvirtual

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

Definition at line 357 of file AccelStepper.cpp.

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◆ setPinsInverted() [1/2]

void AccelStepper::setPinsInverted	(	bool	directionInvert = `false`,
		bool	stepInvert = `false`,
		bool	enableInvert = `false`
	)

Sets the inversion for stepper driver pins

Parameters

[in]	directionInvert	True for inverted direction pin, false for non-inverted
[in]	stepInvert	True for inverted step pin, false for non-inverted
[in]	enableInvert	True for inverted enable pin, false (default) for non-inverted

Definition at line 596 of file AccelStepper.cpp.

◆ setPinsInverted() [2/2]

void AccelStepper::setPinsInverted	(	bool	pin1Invert,
		bool	pin2Invert,
		bool	pin3Invert,
		bool	pin4Invert,
		bool	enableInvert
	)

Sets the inversion for 2, 3 and 4 wire stepper pins

Parameters

[in]	pin1Invert	True for inverted pin1, false for non-inverted
[in]	pin2Invert	True for inverted pin2, false for non-inverted
[in]	pin3Invert	True for inverted pin3, false for non-inverted
[in]	pin4Invert	True for inverted pin4, false for non-inverted
[in]	enableInvert	True for inverted enable pin, false (default) for non-inverted

Definition at line 603 of file AccelStepper.cpp.

◆ setSpeed()

void AccelStepper::setSpeed ( float speed )

Sets the desired constant speed for use with runSpeed().

Parameters

[in] speed 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 runSpeed() function. The speed will be limited by the current value of setMaxSpeed()

Definition at line 298 of file AccelStepper.cpp.

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◆ speed()

float AccelStepper::speed ( )

The most recently set speed.

Returns: the most recent speed in steps per second

Definition at line 313 of file AccelStepper.cpp.

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◆ step()

void AccelStepper::step ( long step )

protectedvirtual

Called to execute a step. Only called when a new step is required. Subclasses may override to implement new stepping interfaces. The default calls step1(), step2(), step4() or step8() depending on the number of pins defined for the stepper.

Parameters

[in] step The current step phase number (0 to 7)

Definition at line 319 of file AccelStepper.cpp.

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◆ step0()

void AccelStepper::step0 ( long step )

protectedvirtual

Called to execute a step using stepper functions (pins = 0) Only called when a new step is required. Calls _forward() or _backward() to perform the step

Parameters

[in] step The current step phase number (0 to 7)

Definition at line 370 of file AccelStepper.cpp.

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◆ step1()

void AccelStepper::step1 ( long step )

protectedvirtual

Called to execute a step on a stepper driver (ie where pins == 1). Only called when a new step is required. Subclasses may override to implement new stepping interfaces. The default sets or clears the outputs of Step pin1 to step, and sets the output of _pin2 to the desired direction. The Step pin (_pin1) is pulsed for 1 microsecond which is the minimum STEP pulse width for the 3967 driver.

Parameters

[in] step The current step phase number (0 to 7)

Definition at line 382 of file AccelStepper.cpp.

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◆ step2()

void AccelStepper::step2 ( long step )

protectedvirtual

Called to execute a step on a 2 pin 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 and pin2

Parameters

[in] step The current step phase number (0 to 7)

Definition at line 399 of file AccelStepper.cpp.

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◆ step3()

void AccelStepper::step3 ( long step )

protectedvirtual

Called to execute a step on a 3 pin motor, such as HDD spindle. 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

Parameters

[in] step The current step phase number (0 to 7)

Definition at line 423 of file AccelStepper.cpp.

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◆ step4()

void AccelStepper::step4 ( long step )

protectedvirtual

Called to execute a step on a 4 pin 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.

Parameters

[in] step The current step phase number (0 to 7)

Definition at line 445 of file AccelStepper.cpp.

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◆ step6()

void AccelStepper::step6 ( long step )

protectedvirtual

Called to execute a step on a 3 pin motor, such as HDD spindle. 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

Parameters

[in] step The current step phase number (0 to 7)

Definition at line 470 of file AccelStepper.cpp.

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◆ step8()

void AccelStepper::step8 ( long step )

protectedvirtual

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.

Parameters

[in] step The current step phase number (0 to 7)

Definition at line 504 of file AccelStepper.cpp.

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◆ stop()

void AccelStepper::stop ( )

Sets a new target position that causes the stepper to stop as quickly as possible, using the current speed and acceleration parameters.

Definition at line 637 of file AccelStepper.cpp.

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◆ targetPosition()

long AccelStepper::targetPosition ( )

The most recently set target position.

Returns: the target position in steps. Positive is clockwise from the 0 position.

Definition at line 77 of file AccelStepper.cpp.

Member Data Documentation

◆ _acceleration

float AccelStepper::_acceleration

protected

The acceleration to use to accelerate or decelerate the motor in steps per second per second. Must be > 0

Definition at line 651 of file AccelStepper.h.

◆ _direction

boolean AccelStepper::_direction

protected

Current direction motor is spinning in Protected because some peoples subclasses need it to be so

Definition at line 620 of file AccelStepper.h.

◆ _enableInverted

bool AccelStepper::_enableInverted

protected

Is the enable pin inverted?

Is the direction pin inverted? bool _dirInverted; /// Moved to _pinInverted[1] Is the step pin inverted? bool _stepInverted; /// Moved to _pinInverted[0]

Definition at line 671 of file AccelStepper.h.

◆ _interface

uint8_t AccelStepper::_interface

protected

Number of pins on the stepper motor. Permits 2 or 4. 2 pins is a bipolar, and 4 pins is a unipolar.

Definition at line 625 of file AccelStepper.h.

◆ _pin

uint8_t AccelStepper::_pin[4]

protected

Arduino pin number assignments for the 2 or 4 pins required to interface to the stepper motor or driver

Definition at line 629 of file AccelStepper.h.

◆ _speed

float AccelStepper::_speed

protected

The current motos speed in steps per second Positive is clockwise

Definition at line 644 of file AccelStepper.h.

◆ _stepInterval

unsigned long AccelStepper::_stepInterval

protected

The current interval between steps in microseconds. 0 means the motor is currently stopped with _speed == 0

Definition at line 656 of file AccelStepper.h.

◆ _targetPos

long AccelStepper::_targetPos

protected

The target position in steps. The AccelStepper library will move the motor from the _currentPos to the _targetPos, taking into account the max speed, acceleration and deceleration

Definition at line 640 of file AccelStepper.h.

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

Node_Card/src/AccelStepper.h
Node_Card/src/AccelStepper.cpp

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ Direction

◆ MotorInterfaceType

Constructor & Destructor Documentation

◆ AccelStepper() [1/2]

◆ AccelStepper() [2/2]

Member Function Documentation

◆ computeNewSpeed()

◆ currentPosition()

◆ disableOutputs()

◆ distanceToGo()

◆ enableOutputs()

◆ isRunning()

◆ maxSpeed()

◆ move()

◆ moveTo()

◆ run()

◆ runSpeed()

◆ runSpeedToPosition()

◆ runToNewPosition()

◆ runToPosition()

◆ setAcceleration()

◆ setCurrentPosition()

◆ setEnablePin()

◆ setMaxSpeed()

◆ setMinPulseWidth()

◆ setOutputPins()

◆ setPinsInverted() [1/2]

◆ setPinsInverted() [2/2]

◆ setSpeed()

◆ speed()

◆ step()

◆ step0()

◆ step1()

◆ step2()

◆ step3()

◆ step4()

◆ step6()

◆ step8()

◆ stop()

◆ targetPosition()

Member Data Documentation

◆ _acceleration

◆ _direction

◆ _enableInverted

◆ _interface

◆ _pin

◆ _speed

◆ _stepInterval

◆ _targetPos