stepGoto()


Description

This function controls a stepper motor based on the initial position, not the current counter position. This function can be used even when the motor is running.

Syntax

step.stepGoto(pos)
step.stepGoto(pos, speed)
step.stepGoto(pos, speed, accel)

Parameters

pos - a integer value which represents a target position (-1 billion ~ +1 billion)
speed - a integer value which represents the rotating speed in pps unit (~ 240000)
accel - a integer value which represents the deceleration speed in pps/s unit (~ 2400000)

※ pps: pulse per second

Returns

none

Example

#include <PhpocExpansion.h>
#include <Phpoc.h>

byte spcId = 1;

ExpansionStepper step(spcId);

void setup() {
    Serial.begin(9600);
    while(!Serial)
        ;

    Phpoc.begin(PF_LOG_SPI | PF_LOG_NET);
    Expansion.begin();

    Serial.println(step.getPID());
    Serial.println(step.getName());

    step.setMode(4);
    step.setVrefStop(2);
    step.setVrefDrive(8);
    step.setResonance(120, 250);
    step.setSpeed(400);
    step.setAccel(0, 0);
    step.setPosition(0);

    step.stepGoto(400);
    delay(2000);
    step.stepGoto(-400);
    delay(2000);
    step.stepGoto(400);
    delay(2000);

    while(step.getState()) {
        delay(1);
    }
}

void loop() {

}