AccelStepper Class Reference AccelStepper類引用
Support for stepper motors with acceleration etc. More...
支持步進電機加減速等
#include <AccelStepper.h>
Public Types 公共類型 |
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enum | MotorInterfaceType { FUNCTION = 0, DRIVER = 1, FULL2WIRE = 2, FULL3WIRE = 3, FULL4WIRE = 4, HALF3WIRE = 6, HALF4WIRE = 8 } |
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. More... 針數的符號名稱。在引腳參數AccelStepper構造函數中使用它,爲要使用的引腳數量提供一個符號名稱。 |
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Public Member Functions公共成員函數 |
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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) 設置電機類型 | |
AccelStepper (void(*forward)(), void(*backward)()) | |
void | moveTo (long absolute) 移動到絕對位置 |
void | move (long relative) 移動相對位置 |
boolean | run () 帶加減速運行 |
boolean | runSpeed () 恆速運行 |
void | setMaxSpeed (float speed) 設置最大速度 |
float | maxSpeed () 獲取最大速度 |
void | setAcceleration (float acceleration) 設置加速度 |
void | setSpeed (float speed) 設置速度 |
float | speed () 獲取當前速度 |
long | distanceToGo () |
long | targetPosition () 目標位置 |
long | currentPosition () 獲取當前位置 |
void | setCurrentPosition (long position) 設置到前位置 |
void | runToPosition () 以加減速的方式運行到指定位置 |
boolean | runSpeedToPosition () 以恆定速度運行到指定位置 |
void | runToNewPosition (long position) 運動到一個新的位置 |
void | stop () 停止點擊運動 |
virtual void | disableOutputs () 不使能輸出引腳 |
virtual void | enableOutputs () 使能輸出引腳 |
void | setMinPulseWidth (unsigned int minWidth) 設置最小脈衝寬度 |
void | setEnablePin (uint8_t enablePin=0xff) 設置使能引腳 |
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 () 判斷電機是否仍在運行 |
Protected Types保護類型 |
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enum | Direction { DIRECTION_CCW = 0, DIRECTION_CW = 1 } |
Direction indicator Symbolic names for the direction the motor is turning. More... 方向指示器電機旋轉方向的符號名稱 |
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Protected Member Functions受保護的成員函數 |
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void | computeNewSpeed () 計算新的速度 |
virtual void | setOutputPins (uint8_t mask) 設置輸出引腳 |
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 受保護的屬性 |
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boolean | _direction |
Detailed Description 功能詳述見第一部分
第一部分連接如下:
https://blog.csdn.net/wenguitao/article/details/104857586
Member Enumeration Documentation 枚舉成員清單
◆ Direction 方向
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Direction indicator Symbolic names for the direction the motor is turning.
方向指示器電機旋轉方向的符號名稱。
Enumerator | |
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DIRECTION_CCW |
Counter-Clockwise. |
DIRECTION_CW |
Clockwise. |
◆ MotorInterfaceType 電機接口類型
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.
針數的符號名稱。在引腳參數AccelStepper構造函數中使用它,爲要使用的引腳數量提供一個符號名稱。
Constructor & Destructor Documentation
構造函數和析構函數
◆ AccelStepper() [1/2]
AccelStepper::AccelStepper | ( | uint8_t | interface = AccelStepper::FULL4WIRE , |
uint8_t | pin1 = 2 , |
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uint8_t | pin2 = 3 , |
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uint8_t | pin3 = 4 , |
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uint8_t | pin4 = 5 , |
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bool | enable = true |
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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().
構造函數。您可以有多個同步步進器,它們都以不同的速度和加速度移動,前提是您以足夠頻率的間隔調用它們的run()函數。當前位置設置爲0,目標位置設置爲0。MaxSpeed和加速度默認爲1.0。在構造函數期間,通過調用enableoutput()將電機引腳初始化爲輸出模式。
Parameters 參數
[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. 接口的引腳數。支持整型數值,但建議使用MotorInterfaceType符號名。 AccelStepper::DRIVER (1) 是指一個步進驅動器(帶有步進數和方向針腳)。如果還需要使能針腳,那麼在構造之後調用setEnablePin()。你也可以使用setPinsInverted()來翻轉引腳。注意:驅動程序爲每一步實現一個minPulseWidth微秒的阻塞延遲(默認1us)。您可以使用setMinPulseWidth()來更改它。AccelStepper::FULL2WIRE (2)表示2線步進電機(需要2個引腳)。AccelStepper::FULL3WIRE (3)表示3線步進電機。例如硬盤主軸(需要3個針)。 AccelStepper :: FULL4WIRE(4)表示4線步進電機(需要4個引腳)。 AccelStepper :: HALF3WIRE(6)表示3線半步進電機,例如HDD主軸(需要3個引腳)AccelStepper :: HALF4WIRE(8)表示4線半步進器(需要4個引腳)默認爲AccelStepper :: FULL4WIRE(4) 針腳。 |
[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) 電機引腳1的Arduino數字引腳號默認爲pin 2。對於AccelStepper::DRIVER(接口==1),這是驅動程序的步數脈衝輸入。從低到高的轉變意味着步進) |
[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. 電機引腳2的Arduino數字引腳號默認爲pin 3。對於AccelStepper::DRIVER(接口==1),這是驅動程序的方向輸入。置高意味着前進。 |
[in] | pin3 |
Arduino digital pin number for motor pin 3. Defaults to pin 4. Arduino數字引腳號碼爲電機引腳3。默認爲pin 4。 |
[in] | pin4 |
Arduino digital pin number for motor pin 4. Defaults to pin 5. Arduino數字引腳號碼爲電機引腳4。默認爲pin 5。 |
[in] | enable |
If this is true (the default), enableOutputs() will be called to enable the output pins at construction time. 如果值爲ture(默認值),將調用enableoutput()以在構建時啓用輸出引腳。 |
References _direction, DIRECTION_CCW, enableOutputs(), and setAcceleration().