17 this->
begin(inPin1, inPin2, 255, 255, inType, inpSteps);
20 void PortStepper::begin(uint8_t inPin1, uint8_t inPin2, uint8_t inPin3, uint8_t inPin4, PIN_TYPE inType, uint8_t *inpSteps)
23 CHECKPIN(inPin1, ANALOG,
"PortStepper::begin");
24 CHECKPIN(inPin2, ANALOG,
"PortStepper::begin");
29 CHECKPIN(inPin3, ANALOG,
"PortStepper::begin");
30 CHECKPIN(inPin4, ANALOG,
"PortStepper::begin");
34 #ifdef ACCESSORIES_PRINT_ACCESSORIES 35 this->printPin1 = inPin1;
36 this->printPin2 = inPin2;
37 this->printPin3 = inPin3;
38 this->printPin4 = inPin4;
40 this->printType = inType;
41 this->printpSteps = inpSteps;
50 #ifdef ACCESSORIES_DEBUG_MODE 51 Serial.print(F(
" PortStepper MovePosition() "));
52 Serial.print(F(
"to "));
53 Serial.println(inPosition);
62 #ifdef ACCESSORIES_DEBUG_MODE 63 Serial.print(F(
" PortStepper MoveRelativePosition() "));
64 Serial.print(F(
"for "));
65 Serial.print(inPosition);
66 Serial.println(F(
" steps."));
70 #ifdef ACCESSORIES_PRINT_ACCESSORIES 71 void PortStepper::printPort()
75 Serial.print(F(
"[PortStepper pin1:"));
76 Port::printPortPin(this->printPin1, DIGITAL);
77 Serial.print(F(
" pin2:"));
78 Port::printPortPin(this->printPin2, DIGITAL);
79 if (this->printPin3 != 255)
81 Serial.print(F(
" pin3:"));
82 Port::printPortPin(this->printPin3, DIGITAL);
84 if (this->printPin4 != 255)
86 Serial.print(F(
" pin4:"));
87 Port::printPortPin(this->printPin4, DIGITAL);
90 Serial.print(F(
" steps:"));
91 for (
int i = 0; i < count; i++)
95 Serial.print(this->printpSteps[i], DEC);
void MoveRelativePosition(unsigned long inDuration, int inIncrementalPosition)
void moveTo(long absolute)
void MovePosition(unsigned long inDuration, int inEndPosition)
Support for stepper motors with acceleration etc.
void setSpeed(float speed)