stepMove()

Description

This function controls a stepper motor based on the current counter position, not the initial position. This function is only available when the motor is stopped.

Syntax

step.stepMove(step)
step.stepMove(step, speed)
step.stepMove(step, speed, accel)

Parameters

step - a integer value which represents a target position
speed - a integer value which represents the rotating speed in pps unit
accel - a integer value which represents the deceleration speed in pps/s unit

※ pps: pulse per second

Returns

none

Example

#include <PhpocExpansion.h>
#include <Phpoc.h>

byte spcId = 1;

ExpansionStepper step(spcId);

void setup() {
    Serial.begin(9600);
    while(!Serial)
        ;

    Phpoc.begin(PF_LOG_SPI | PF_LOG_NET);
    Expansion.begin();

    Serial.println(step.getPID());
    Serial.println(step.getName());

    step.setMode(4);
    step.setVrefStop(2);
    step.setVrefDrive(8);
    step.setResonance(120, 250);
    step.setSpeed(400);
    step.setAccel(0, 0);
    step.setPosition(0);

    step.stepMove(400);
    delay(2000);
    step.stepMove(-400);
    delay(2000);
    step.stepMove(400);
    delay(2000);

    while(step.getState()) {
        delay(1);
    }
}

void loop() {

}