• Introduction
• Dimemsion
• Schematic
• Layout
• How to Use
  • Class and Functions
  • Settings
  • Getting States
  • Controlling by stepGoto()
  • Controlling by stepMove()
  • Stopping
  • Settings the Initial Position
    • Stop automatically
    • Stop manually
  • Lock and Unlock

Controlling by stepMove()

Controlling by stepMove()

You can control a stepper motor relative to the current position, not the initial position by using stepMove() function. This function can be executed only when the motor is NOT running.

step.stepMove(step)
step.stepMove(step, speed)
step.stepMove(step, speed, accel)

• step - the target counter position

  You can define the forward or reverse rotation by adding "+" or "-" in front of the pos value. (default : "+") The target counter position is relative to the current position, not the initial position.

• speed - rotation speed in pps unit

  ※ pps: pulse per second

• accel - acceleration in pps/s unit

  The deceleration is applied with the same value with the acceleration.

Example

• source code for Arduino

#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.stepMove(400);
    delay(2000);
    step.stepMove(-400);
    delay(2000);
    step.stepMove(400);
    delay(2000);

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

void loop() {

}