diff --git a/extras/doc/annotated.html b/extras/doc/annotated.html index ca245cd..7f48b6f 100644 --- a/extras/doc/annotated.html +++ b/extras/doc/annotated.html @@ -3,7 +3,8 @@ - + + AccelStepper: Class List @@ -25,21 +26,15 @@ - - - + + + + +
@@ -57,7 +52,7 @@
Generated by   doxygen - 1.8.11 + 1.8.13
diff --git a/extras/doc/classAccelStepper-members.html b/extras/doc/classAccelStepper-members.html index f228fce..44b31e5 100644 --- a/extras/doc/classAccelStepper-members.html +++ b/extras/doc/classAccelStepper-members.html @@ -3,7 +3,8 @@ - + + AccelStepper: Member List @@ -25,21 +26,15 @@
- - - + + + + +
@@ -102,7 +97,7 @@
Generated by   doxygen - 1.8.11 + 1.8.13
diff --git a/extras/doc/classAccelStepper.html b/extras/doc/classAccelStepper.html index 4df6517..f4087cb 100644 --- a/extras/doc/classAccelStepper.html +++ b/extras/doc/classAccelStepper.html @@ -3,7 +3,8 @@ - + + AccelStepper: AccelStepper Class Reference @@ -25,21 +26,15 @@
- - - + + + + +
@@ -175,7 +170,9 @@
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();

Member Enumeration Documentation

- + +

◆ Direction

+
@@ -195,17 +192,17 @@

Direction indicator Symbolic names for the direction the motor is turning.

- -
Enumerator
DIRECTION_CCW  -

Counter-Clockwise.

+
Enumerator
DIRECTION_CCW 

Counter-Clockwise.

DIRECTION_CW  -

Clockwise.

+
DIRECTION_CW 

Clockwise.

- + +

◆ MotorInterfaceType

+
@@ -217,33 +214,28 @@

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)

+
Enumerator
FUNCTION 

Use the functional interface, implementing your own driver functions (internal use only)

DRIVER  -

Stepper Driver, 2 driver pins required.

+
DRIVER 

Stepper Driver, 2 driver pins required.

FULL2WIRE  -

2 wire stepper, 2 motor pins required

+
FULL2WIRE 

2 wire stepper, 2 motor pins required

FULL3WIRE  -

3 wire stepper, such as HDD spindle, 3 motor pins required

+
FULL3WIRE 

3 wire stepper, such as HDD spindle, 3 motor pins required

FULL4WIRE  -

4 wire full stepper, 4 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

+
HALF3WIRE 

3 wire half stepper, such as HDD spindle, 3 motor pins required

HALF4WIRE  -

4 wire half stepper, 4 motor pins required

+
HALF4WIRE 

4 wire half stepper, 4 motor pins required

Constructor & Destructor Documentation

- + +

◆ AccelStepper() [1/2]

+
@@ -302,11 +294,13 @@

Constructor & Destructor Documentation

-

References _direction, DIRECTION_CCW, enableOutputs(), and setAcceleration().

+

References _direction, DIRECTION_CCW, enableOutputs(), and setAcceleration().

- + +

◆ AccelStepper() [2/2]

+
@@ -337,12 +331,14 @@

Constructor & Destructor Documentation

-

References _direction, DIRECTION_CCW, and setAcceleration().

+

References _direction, DIRECTION_CCW, and setAcceleration().

Member Function Documentation

- + +

◆ computeNewSpeed()

+
@@ -369,13 +365,15 @@

Member Function Documentation

  • after change to target position (relative or absolute) through move() or moveTo()
    • -

    References _direction, DIRECTION_CCW, DIRECTION_CW, and distanceToGo().

    +

    References _direction, DIRECTION_CCW, DIRECTION_CW, and distanceToGo().

    -

    Referenced by moveTo(), run(), setAcceleration(), and setMaxSpeed().

    +

    Referenced by moveTo(), run(), setAcceleration(), and setMaxSpeed().

    - + +

    ◆ currentPosition()

    +
    @@ -389,11 +387,13 @@

    Member Function Documentation

    The currently motor position.

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

    Referenced by MultiStepper::moveTo().

    +

    Referenced by MultiStepper::moveTo().

    - + +

    ◆ disableOutputs()

    +
    @@ -415,11 +415,13 @@

    Member Function Documentation

    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.

    -

    References setOutputPins().

    +

    References setOutputPins().

    - + +

    ◆ distanceToGo()

    +
    @@ -433,11 +435,13 @@

    Member Function Documentation

    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.
    -

    Referenced by computeNewSpeed(), and run().

    +

    Referenced by computeNewSpeed(), and run().

    - + +

    ◆ enableOutputs()

    +
    @@ -459,13 +463,15 @@

    Member Function Documentation

    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.

    -

    References FULL3WIRE, FULL4WIRE, HALF3WIRE, and HALF4WIRE.

    +

    References FULL3WIRE, FULL4WIRE, HALF3WIRE, and HALF4WIRE.

    -

    Referenced by AccelStepper().

    +

    Referenced by AccelStepper().

    - + +

    ◆ isRunning()

    +
    @@ -481,7 +487,9 @@

    Member Function Documentation

    - + +

    ◆ maxSpeed()

    +
    @@ -495,11 +503,13 @@

    Member Function Documentation

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

    Returns
    The currently configured maximum speed
    -

    Referenced by MultiStepper::moveTo().

    +

    Referenced by MultiStepper::moveTo().

    - + +

    ◆ move()

    +
    @@ -519,13 +529,15 @@

    Member Function Documentation

    -

    References moveTo().

    +

    References moveTo().

    -

    Referenced by stop().

    +

    Referenced by stop().

    - + +

    ◆ moveTo()

    +
    @@ -545,13 +557,15 @@

    Member Function Documentation

    -

    References computeNewSpeed().

    +

    References computeNewSpeed().

    -

    Referenced by move(), MultiStepper::moveTo(), and runToNewPosition().

    +

    Referenced by move(), MultiStepper::moveTo(), and runToNewPosition().

    - + +

    ◆ run()

    +
    @@ -565,13 +579,15 @@

    Member Function Documentation

    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 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.
    -

    References computeNewSpeed(), distanceToGo(), and runSpeed().

    +

    References computeNewSpeed(), distanceToGo(), and runSpeed().

    -

    Referenced by runToPosition().

    +

    Referenced by runToPosition().

    - + +

    ◆ runSpeed()

    +
    @@ -585,13 +601,15 @@

    Member Function Documentation

    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.
    -

    References _direction, DIRECTION_CW, and step().

    +

    References _direction, DIRECTION_CW, and step().

    -

    Referenced by MultiStepper::run(), run(), and runSpeedToPosition().

    +

    Referenced by MultiStepper::run(), run(), and runSpeedToPosition().

    - + +

    ◆ runSpeedToPosition()

    +
    @@ -605,11 +623,13 @@

    Member Function Documentation

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

    Returns
    true if it stepped
    -

    References _direction, DIRECTION_CCW, DIRECTION_CW, and runSpeed().

    +

    References _direction, DIRECTION_CCW, DIRECTION_CW, and runSpeed().

    - + +

    ◆ runToNewPosition()

    +
    @@ -629,11 +649,13 @@

    Member Function Documentation

    -

    References moveTo(), and runToPosition().

    +

    References moveTo(), and runToPosition().

    - + +

    ◆ runToPosition()

    +
    @@ -647,13 +669,15 @@

    Member Function Documentation

    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.

    -

    References run().

    +

    References run().

    -

    Referenced by runToNewPosition().

    +

    Referenced by runToNewPosition().

    - + +

    ◆ setAcceleration()

    +
    @@ -673,13 +697,15 @@

    Member Function Documentation

    -

    References computeNewSpeed().

    +

    References computeNewSpeed().

    -

    Referenced by AccelStepper().

    +

    Referenced by AccelStepper().

    - + +

    ◆ setCurrentPosition()

    +
    @@ -701,7 +727,9 @@

    Member Function Documentation

    - + +

    ◆ setEnablePin()

    +
    @@ -724,7 +752,9 @@

    Member Function Documentation

    - + +

    ◆ setMaxSpeed()

    +
    @@ -744,11 +774,13 @@

    Member Function Documentation

    -

    References computeNewSpeed(), and speed().

    +

    References computeNewSpeed(), and speed().

    - + +

    ◆ setMinPulseWidth()

    +
    @@ -770,7 +802,9 @@

    Member Function Documentation

    - + +

    ◆ setOutputPins()

    +
    @@ -793,13 +827,15 @@

    Member Function Documentation

    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

    -

    References FULL3WIRE, FULL4WIRE, HALF3WIRE, and HALF4WIRE.

    +

    References FULL3WIRE, FULL4WIRE, HALF3WIRE, and HALF4WIRE.

    -

    Referenced by disableOutputs(), step1(), step2(), step3(), step4(), step6(), and step8().

    +

    Referenced by disableOutputs(), step1(), step2(), step3(), step4(), step6(), and step8().

    - + +

    ◆ setPinsInverted() [1/2]

    +
    @@ -839,7 +875,9 @@

    Member Function Documentation

    - + +

    ◆ setPinsInverted() [2/2]

    +
    @@ -893,7 +931,9 @@

    Member Function Documentation

    - + +

    ◆ setSpeed()

    +
    @@ -913,13 +953,15 @@

    Member Function Documentation

    -

    References _direction, DIRECTION_CCW, DIRECTION_CW, and speed().

    +

    References _direction, DIRECTION_CCW, DIRECTION_CW, and speed().

    -

    Referenced by MultiStepper::moveTo().

    +

    Referenced by MultiStepper::moveTo().

    - + +

    ◆ speed()

    +
    @@ -933,11 +975,13 @@

    Member Function Documentation

    The most recently set speed

    Returns
    the most recent speed in steps per second
    -

    Referenced by setMaxSpeed(), and setSpeed().

    +

    Referenced by setMaxSpeed(), and setSpeed().

    - + +

    ◆ step()

    +
    @@ -965,13 +1009,15 @@

    Member Function Documentation

    -

    References DRIVER, FULL2WIRE, FULL3WIRE, FULL4WIRE, FUNCTION, HALF3WIRE, HALF4WIRE, step0(), step1(), step2(), step3(), step4(), step6(), and step8().

    +

    References DRIVER, FULL2WIRE, FULL3WIRE, FULL4WIRE, FUNCTION, HALF3WIRE, HALF4WIRE, step0(), step1(), step2(), step3(), step4(), step6(), and step8().

    -

    Referenced by runSpeed().

    +

    Referenced by runSpeed().

    - + +

    ◆ step0()

    +
    @@ -999,11 +1045,13 @@

    Member Function Documentation

    -

    Referenced by step().

    +

    Referenced by step().

    - + +

    ◆ step1()

    +
    @@ -1031,13 +1079,15 @@

    Member Function Documentation

    -

    References _direction, and setOutputPins().

    +

    References _direction, and setOutputPins().

    -

    Referenced by step().

    +

    Referenced by step().

    - + +

    ◆ step2()

    +
    @@ -1065,13 +1115,15 @@

    Member Function Documentation

    -

    References setOutputPins().

    +

    References setOutputPins().

    -

    Referenced by step().

    +

    Referenced by step().

    - + +

    ◆ step3()

    +
    @@ -1099,13 +1151,15 @@

    Member Function Documentation

    -

    References setOutputPins().

    +

    References setOutputPins().

    -

    Referenced by step().

    +

    Referenced by step().

    - + +

    ◆ step4()

    +
    @@ -1133,13 +1187,15 @@

    Member Function Documentation

    -

    References setOutputPins().

    +

    References setOutputPins().

    -

    Referenced by step().

    +

    Referenced by step().

    - + +

    ◆ step6()

    +
    @@ -1167,13 +1223,15 @@

    Member Function Documentation

    -

    References setOutputPins().

    +

    References setOutputPins().

    -

    Referenced by step().

    +

    Referenced by step().

    - + +

    ◆ step8()

    +
    @@ -1201,13 +1259,15 @@

    Member Function Documentation

    -

    References setOutputPins().

    +

    References setOutputPins().

    -

    Referenced by step().

    +

    Referenced by step().

    - + +

    ◆ stop()

    +
    @@ -1221,11 +1281,13 @@

    Member Function Documentation

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

    -

    References move().

    +

    References move().

    - + +

    ◆ targetPosition()

    +
    @@ -1242,7 +1304,9 @@

    Member Function Documentation

    Member Data Documentation

    - + +

    ◆ _direction

    +
    @@ -1261,7 +1325,7 @@

    Member Data Documentation

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

    -

    Referenced by AccelStepper(), computeNewSpeed(), runSpeed(), runSpeedToPosition(), setSpeed(), and step1().

    +

    Referenced by AccelStepper(), computeNewSpeed(), runSpeed(), runSpeedToPosition(), setSpeed(), and step1().

    @@ -1274,7 +1338,7 @@

    Member Data Documentation

    Generated by   doxygen - 1.8.11 + 1.8.13
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    - - - + + + + +
    @@ -56,7 +52,7 @@
    Generated by   doxygen - 1.8.11 + 1.8.13
    diff --git a/extras/doc/functions.html b/extras/doc/functions.html index f5de038..dda93bc 100644 --- a/extras/doc/functions.html +++ b/extras/doc/functions.html @@ -3,7 +3,8 @@ - + + AccelStepper: Class Members @@ -25,58 +26,27 @@
    - - - - - + + + + +
    Here is a list of all documented class members with links to the class documentation for each member:
    -

    - _ -

    - - - - - + + + + +
      -

    - a -

    - - + + + + +
    @@ -53,7 +54,7 @@
  • Extensive API
  • Subclass support
    • -

    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

    +

    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-1.58.zip

    Example Arduino programs are included to show the main modes of use.

    You can also find online help and discussion at http://groups.google.com/group/accelstepper 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

    Generated by   doxygen - 1.8.11 + 1.8.13
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2bc17bd..981d046 100644 --- a/src/AccelStepper.cpp +++ b/src/AccelStepper.cpp @@ -204,7 +204,8 @@ 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; _c0 = 0.0; diff --git a/src/AccelStepper.h b/src/AccelStepper.h index c4fd852..84c738c 100644 --- a/src/AccelStepper.h +++ b/src/AccelStepper.h @@ -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-1.58.zip /// /// Example Arduino programs are included to show the main modes of use. /// @@ -240,6 +240,8 @@ /// \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. /// /// \author Mike McCauley (mikem@airspayce.com) DO NOT CONTACT THE AUTHOR DIRECTLY: USE THE LISTS // Copyright (C) 2009-2013 Mike McCauley