stepperMotor.c File Reference

#include "stepperMotor.h"

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Functions
void	StepperMotor_construct (StepperMotor_t *stepper, uint8_t multiple)
void	StepperMotor_update (StepperMotor_t *stepper)
void	StepperMotor_setStepSize (StepperMotor_t *stepper, uint8_t multiple)
void	StepperMotor_setDirection (StepperMotor_t *stepper, uint8_t direction)
void	StepperMotor_enable (StepperMotor_t *stepper)
void	StepperMotor_disable (StepperMotor_t *stepper)
void	StepperMotor_enA (StepperMotor_t *stepper)
void	StepperMotor_enB (StepperMotor_t *stepper)
void	StepperMotor_incrementStep (StepperMotor_t *stepper)
void	StepperMotor_decrementStep (StepperMotor_t *stepper)
void	StepperMotor_wrapStep (StepperMotor_t *stepper)
void	StepperMotor_step0 (StepperMotor_t *stepper)
void	StepperMotor_step1 (StepperMotor_t *stepper)
void	StepperMotor_step2 (StepperMotor_t *stepper)
void	StepperMotor_step3 (StepperMotor_t *stepper)

Detailed Description

Author

Harvey Leicester

Definition in file stepperMotor.c.

Function Documentation

void StepperMotor_construct	(	StepperMotor_t *	stepper,
		uint8_t	multiple
	)

Constructor for StepperMotor_t

Parameters

stepper	Instance of StepperMotor_t
multiple	Multiple of minimum step angle (0.9deg), defines angular resolution of system

Definition at line 15 of file stepperMotor.c.

References StepperMotor_t::currentStep, StepperMotor_t::pinB1, StepperMotor_t::pinEnA, StepperMotor_t::stepMultiple, StepperMotor_enable(), StepperMotor_step0(), StepperMotor_step1(), StepperMotor_step2(), StepperMotor_step3(), and StepperMotor_t::waitTime.

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void StepperMotor_decrementStep

(

StepperMotor_t *

stepper

)

Decrement the current step of the motor

Parameters

stepper

Instance of StepperMotor_t

Definition at line 147 of file stepperMotor.c.

References StepperMotor_t::currentStep, and StepperMotor_wrapStep().

Referenced by StepperMotor_update().

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void StepperMotor_disable

(

StepperMotor_t *

stepper

)

Disable the stepper motor

Parameters

stepper

Instance of StepperMotor_t

Definition at line 101 of file stepperMotor.c.

References StepperMotor_t::pinB1, and StepperMotor_t::pinEnA.

void StepperMotor_enA

(

StepperMotor_t *

stepper

)

Enable the A H bridge of the stepper motor driver

Parameters

stepper

Definition at line 116 of file stepperMotor.c.

References StepperMotor_t::pinEnA.

void StepperMotor_enable

(

StepperMotor_t *

stepper

)

Enable the stepper motor

Parameters

stepper

Instance of StepperMotor_t

Definition at line 86 of file stepperMotor.c.

References StepperMotor_t::pinB1, and StepperMotor_t::pinEnA.

Referenced by StepperMotor_construct().

void StepperMotor_enB

(

StepperMotor_t *

stepper

)

Enable the B H bridge of the stepper motor driver

Parameters

stepper

Definition at line 125 of file stepperMotor.c.

void StepperMotor_incrementStep

(

StepperMotor_t *

stepper

)

Increment the current step of the motor

Parameters

stepper

Instance of StepperMotor_t

Definition at line 134 of file stepperMotor.c.

References StepperMotor_t::currentStep, and StepperMotor_wrapStep().

Referenced by StepperMotor_update().

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void StepperMotor_setDirection	(	StepperMotor_t *	stepper,
		uint8_t	direction
	)

Set the rotational direction of the motor

Parameters

stepper	Instance of StepperMotor_t
direction	Direction to assign

Definition at line 77 of file stepperMotor.c.

void StepperMotor_setStepSize	(	StepperMotor_t *	stepper,
		uint8_t	multiple
	)

Set the size of the motor step increment, defines the angular resolution of the system

Parameters

stepper	Instance of StepperMotor_t
multiple	Multiple of minimum step increment (0.9deg)

Definition at line 67 of file stepperMotor.c.

References StepperMotor_t::stepMultiple.

void StepperMotor_step0

(

StepperMotor_t *

stepper

)

Method for performing a step

Parameters

stepper

Instance of StepperMotor_t

Definition at line 174 of file stepperMotor.c.

References StepperMotor_t::pinB1.

Referenced by StepperMotor_construct().

void StepperMotor_step1

(

StepperMotor_t *

stepper

)

Method for performing a step

Parameters

stepper

Instance of StepperMotor_t

Definition at line 186 of file stepperMotor.c.

References StepperMotor_t::pinB1.

Referenced by StepperMotor_construct().

void StepperMotor_step2

(

StepperMotor_t *

stepper

)

Method for performing a step

Parameters

stepper

Instance of StepperMotor_t

Definition at line 198 of file stepperMotor.c.

References StepperMotor_t::pinB1.

Referenced by StepperMotor_construct().

void StepperMotor_step3

(

StepperMotor_t *

stepper

)

Method for performing a step

Parameters

stepper

Instance of StepperMotor_t

Definition at line 210 of file stepperMotor.c.

References StepperMotor_t::pinB1.

Referenced by StepperMotor_construct().

void StepperMotor_update

(

StepperMotor_t *

stepper

)

Update the stepper motor position

Parameters

stepper

Instance of StepperMotor_t

Definition at line 42 of file stepperMotor.c.

References StepperMotor_t::stepMultiple, StepperMotor_decrementStep(), StepperMotor_incrementStep(), and StepperMotor_t::waitTime.

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void StepperMotor_wrapStep

(

StepperMotor_t *

stepper

)

Wrap current step of motor at limits

Parameters

stepper

Instance of StepperMotor_t

Definition at line 159 of file stepperMotor.c.

References StepperMotor_t::currentStep.

Referenced by StepperMotor_decrementStep(), and StepperMotor_incrementStep().