Library Description

The library carries everything needed for stepper motor control including speed and acceleration setup. The library is also adjustable to working on 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 so this 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 stepper5_setSpeed( float minSpeed, float maxSpeed, float accelRatio, T_STEPPER5_OBJ obj ) - Setup motor speed

• uint8_t stepper5_setRoute( const uint8_t direction, uint32_t steps, T_STEPPER5_OBJ obj ) - Setup new route

• void stepper5_start( T_STEPPER5_OBJ obj ) - Start motor movement

Examples Description

The application is composed of three sections:

• System Initialization - Initializes all GPIO pins found on Stepper 5 Click and timer to 1ms interrupt.
• Application Initialization - the First segment initializes driver and stepper control. The first segment also determines the microstep resolution and puts the motor in stealth mode. Second segment setup movement limits, maximum and minimum speed, and acceleration ratio. The third segment enables motor and setup a new route which will be called from application task.
• Application Task - (code snippet) - Sequentially moves the motor. Executes movement until the end. When movement is finished, waits for two seconds and then repeats all operation.

void applicationTask()
{
 stepper5_start( (T_STEPPER5_OBJ)&myStepper );
 while ( myStepper.status.running )
 {
 stepper5_process( (T_STEPPER5_OBJ)&myStepper );
 }
 Delay_ms( 2000 );
}

In addition to the 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.