Library Description

The library carries everything needed for stepper motor control including speed and acceleration setup. Library is also adjustable to working on different amount of ticks per second, also speed and acceleration can be provided in float format. Buffer used for movement calculation is defined by user so this library can be adjusted for MCUs with very limited RAM resources. Library also offers a choice to choose the stepper working mode and microstep resolution. Check documentation for more details how to use it.

Key functions:

• uint8_t stepper6_setSpeed( float minSpeed, float maxSpeed, float accelRatio, T_STEPPER6_OBJ obj ) - Setup motor speed

• uint8_t stepper6_setRoute( const uint8_t direction, uint32_t steps, T_STEPPER6_OBJ obj ) - Setup new route

• void stepper6_start( T_STEPPER6_OBJ obj ) - Start motor movement

• uint8_t stepper6_configSet( uint8_t resetSet, uint8_t sleepSet, uint8_t stepMode, T_STEPPER6_OBJ obj ) - Working mode configurations

Examples description

The application is composed of the three sections :

• System Initialization - Initializes all GPIO pins found on Stepper_6 Click and timer to 1ms interrupt.
• Application Initialization - First segment initializes driver, stepper working mode and stepper control. Second segment setup movement limits, maximum and minimum speed, and acceleration ratio. Third segment enables motor and setup new route which will be called from application task.
• Application Task - (code snippet) - Sequentialy moves motor. Executes movement until the end. When movement is finished, waits for two seconds and then repeats all operation.

void applicationTask()
{
   stepper6_start( (T_STEPPER6_OBJ)&myStepper );
   while ( myStepper.status.running )
   {
   stepper6_process( (T_STEPPER6_OBJ)&myStepper );
   }
   Delay_ms( 2000 );
}

In addition to library function calls example carries necessay Timer ISR and Timer initialization. Check
Timer initialization setings 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.