Library description

This library carries everything needed for stepper motor control, including speed and acceleration setup. The library can be adjusted to work on the different amount of ticks per second. Also, speed and acceleration can be provided in float format. The buffer used for movement calculation is defined by the user in order that the library can be adjusted for MCUs with very limited RAM resources. Check the documentation for more details how to use it.

Key functions

uint8_t stepper7_setSpeed( float minSpeed, float maxSpeed, float accelRatio, T_STEPPER7_OBJ obj ) - Sets up the motor speed

uint8_t stepper7_setRoute( const uint8_t direction, uint32_t steps, T_STEPPER7_OBJ obj ) - Sets up a new route

void stepper7_start( T_STEPPER7_OBJ obj ) - Starts motor movement

The application is composed of three sections :

• System Initialization - Initializes all GPIO pins found on Stepper 7 Click and timer to 1ms interrupt.
• Application Initialization - The first segment initializes driver and stepper control. The second segment sets up movement limits, maximum and minimum speed, and acceleration ratio. The third segment enables motor and sets up the new route which will be called from the application task.
• Application Task - (code snippet) - Sequentially moves the motor and executes movement until the end.

void applicationTask()
{
    stepper7_start( (T_STEPPER7_OBJ_P)&myStepper );
    while( myStepper.status.running )
        stepper7_process( (T_STEPPER7_OBJ_P)&myStepper );
    Delay_ms( 2000 );
}

In addition to library function calls, example carries necessary Timer ISR and Timer initialization. Check Timer initialization settings and update it according to your MCU - Timer Calculator.
 

Additional notes and information

Depending on the development board you are using, you may need USB UART click,  USB UART 2 click or  RS232 click to connect to your PC, for development systems with no UART to USB interface available on the board. The terminal available in all MikroElektronika compilers, or any other terminal application of your choice, can be used to read the message.