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 amounts 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 on how to use it.

Key functions:

• uint8_t stepper_setSpeed( float minSpeed, float maxSpeed, float accelRatio, T_STEPPER_OBJ obj ) - Function for setting the motor speed.
• uint8_t stepper_setRoute( const uint8_t direction, uint32_t steps, T_STEPPER_OBJ obj ) - Setup new route.
• void stepper_start( T_STEPPER_OBJ obj ) - Start motor movement.

Examples Description

The application is composed of three sections:

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

void applicationTask()
{
 stepper_start( (T_STEPPER_OBJ_P)&myStepper );
 while( myStepper.status.running )
 stepper_process( (T_STEPPER_OBJ_P)&myStepper );
 Delay_ms( 2000 );

 stepper_start( (T_STEPPER_OBJ_P)&myStepper );
 Delay_ms( 1000 );
 stepper_stop( (T_STEPPER_OBJ_P)&myStepper );
 Delay_ms( 2000 );
}

In addition to the library function calls example carries the necessary Timer ISR and Timer initialization. Check the 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.