StepperMotor< T > Class Template Reference

Stepper motor driver using FastAccelStepper for Arduino. More...

#include <StepperMotor.h>

Inheritance diagram for StepperMotor< T >:

Collaboration diagram for StepperMotor< T >:

Public Member Functions
	StepperMotor (uint8_t id=0)
	StepperMotor (uint8_t id, uint16_t stepsPerRevolution, float maxSpeedStepsPerSec, uint16_t accelerationMs)
void	setPins (int stepPin, int dirPin, int enablePin=-1)
void	setMaxSpeed (float stepsPerSec)
void	setAccelerationMs (uint16_t ms)
	Set acceleration time in milliseconds to reach max speed (e.g., 2000 ms)
void	setStepsPerRevolution (int steps)
bool	begin ()
bool	setValuePercent (T percent) override
T	getValuePercent () const override
void	end () override
	Stop the stepper motor.
bool	isPinsSet () const override
Public Member Functions inherited from IMotor< T >
virtual bool	begin ()=0
virtual void	end ()=0
virtual bool	isPinsSet () const =0
virtual bool	setValuePercent (T percent)=0
virtual T	getValuePercent () const =0
void	setID (uint8_t id)
uint8_t	getID () const

Protected Member Functions
void	callbackFastAccel (FastAccelStepper *s)
void	setSpeedPercent (T percent)

Protected Attributes
T	lastValuePercent = 0.0f
FastAccelStepperEngine	engine
FastAccelStepper *	stepper = NULL
int	pinStep = -1
int	pinDir = -1
int	pinEnable = -1
bool	is_pins_set = false
float	maxSpeedHz = 2000
uint16_t	accelerationMs = 2000
uint16_t	stepsPerRevolution = 200
void *	ref = nullptr
void(*	callback )(void *) = nullptr
Protected Attributes inherited from IMotor< T >
uint8_t	id = 0

Detailed Description

template<typename T = float>
class tinyrobotics::StepperMotor< T >

Stepper motor driver using FastAccelStepper for Arduino.

This class provides an interface to control stepper motors with acceleration and speed control. It supports:

• Continuous speed mode: setSpeed(percent) for indefinite movement at a given speed and direction.
• Relative movement: moveRevolutions(revolutions, speedPercent, callback, ref) to move a specific number of revolutions, with optional callback on completion.
• Distance-based movement: moveDistance(distance, wheelDiameter, speedPercent, callback, ref) to move a specific physical distance (using wheel diameter), with optional callback.

You can set pins, maximum speed, acceleration, and steps per revolution. The motor can be started, stopped, or moved by distance or revolutions. Acceleration is handled automatically based on the configured accelerationMs.

The class uses FastAccelStepper's continuous mode for setSpeed(), and supports asynchronous notification via callback for move operations.

@dependencies

• Requires the FastAccelStepper library: https://github.com/ESP32DIYer/FastAccelStepper (Install via Arduino Library Manager or PlatformIO)
• Uses Arduino core functions (e.g., constrain, map)

Main methods:

• setPins(stepPin, dirPin, enablePin): Assigns the control pins for the stepper driver.
• setMaxSpeed(stepsPerSec): Sets the maximum speed in steps per second.
• setStepsPerRevolution(steps): Sets the number of steps per full revolution.
• setAccelerationMs(ms): Sets the time in milliseconds to reach max speed (acceleration).
• begin(): Initializes the stepper hardware and prepares for movement.
• setSpeed(percent): Starts continuous movement at the given speed percentage (-100 to 100) using continuous mode.
• moveRevolutions(revolutions, speedPercent, callback, ref): Move the stepper by a given number of revolutions at a specified speed, with optional callback.
• moveDistance(distance, wheelDiameter, speedPercent, callback, ref): Move the stepper by a physical distance (using wheel diameter), at a specified speed, with optional callback.
• end(): Stops the stepper motor.

Usage notes:

• Call begin() after setting pins and speed parameters.
• Use setSpeed(percent) to start or change continuous movement. Use setSpeed(0) to stop.
• Acceleration is set in setSpeed() based on the configured accelerationMs.

Example usage:

Stepper stepper;
stepper.setPins(2, 3, 4);
stepper.setMaxSpeed(1000);
stepper.setStepsPerRevolution(200);
stepper.setAccelerationMs(2000);
stepper.begin();
stepper.setSpeed(50); // Move at 50% of max speed (continuous mode)
stepper.setSpeed(0);  // Stop
stepper.end();        // Ensure motor is stopped

Member Function Documentation

begin()

bool begin ( )

inlinevirtual

Initialize the stepper hardware. Must be called after setting pins and speed parameters.

Implements IMotor< T >.

end()

void end ( )

inlineoverridevirtual

Stop the stepper motor.

Implements IMotor< T >.

getValuePercent()

T getValuePercent ( ) const

inlineoverridevirtual

Implements IMotor< T >.

isPinsSet()

bool isPinsSet ( ) const

inlineoverridevirtual

Implements IMotor< T >.

setMaxSpeed()

void setMaxSpeed ( float  stepsPerSec )

inline

Set maximum speed in steps per second (e.g., 500 for 1.8 degree stepper, 1000

setStepsPerRevolution()

void setStepsPerRevolution ( int  steps )

inline

Set the number of steps per full revolution (e.g., 200 for 1.8 degree stepper)

setValuePercent()

bool setValuePercent ( T  percent )

inlineoverridevirtual

Set continuous speed as a percentage (-100 to 100). Positive for forward, negative for backward.

Implements IMotor< T >.

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The documentation for this class was generated from the following file:

• src/TinyRobotics/motors/StepperMotor.h