An I2C wrapper class for the AccelStepper library. More...

Detailed Description

An I2C wrapper class for the AccelStepper library.

This class mimicks the original AccelStepper interface. It replicates most of its methods and transmits each method call via I2C to a target running the AccelStepperI2C firmware. Functions and parameters without documentation will work just as their original, but you need to take the general restrictions into account (e.g. don't take a return value for valid without error handling).

Public Member Functions
	AccelStepperI2C (I2Cwrapper *w)
	Constructor. More...

void	attach (uint8_t interface=AccelStepper::FULL4WIRE, uint8_t pin1=2, uint8_t pin2=3, uint8_t pin3=4, uint8_t pin4=5, bool enable=true)
	Replaces the AccelStepper constructor and takes the same arguments. Will allocate an AccelStepper object on the target's side and make it ready for use. Does not return an success/error result. Instead check myNum >= 0 to see if the target successfully added the stepper. If not, it's -1. More...

void	moveTo (long absolute)

void	move (long relative)

bool	run ()
	Don't use this, use state machine instead with runState(). More...

bool	runSpeed ()
	Don't use this, use state machine instead with runSpeedState(). More...

void	setMaxSpeed (float speed)

float	maxSpeed ()

void	setAcceleration (float acceleration)

void	setSpeed (float speed)

float	speed ()

long	distanceToGo ()

long	targetPosition ()

long	currentPosition ()

void	setCurrentPosition (long position)

void	runToPosition ()
	This is a blocking function in the original, it will only return after the target has been reached. This I2C implementation mimicks the original, but uses the state machine and checks for a target reached condition with a fixed frequency of 100ms to keep the I2C bus uncluttered. More...

void	runToNewPosition (long position)
	This is a blocking function in the original, it will only return after the new target has been reached. This I2C implementation mimicks the original, but uses the state machine and checks for a target reached condition with a fixed frequency of 100ms to keep the I2C bus uncluttered. More...

bool	runSpeedToPosition ()
	Don't use this, use state machine instead with runSpeedToPositionState(). More...

void	stop ()

void	disableOutputs ()

void	enableOutputs ()

void	setMinPulseWidth (unsigned int minWidth)

void	setEnablePin (uint8_t enablePin=0xff)

void	setPinsInverted (bool directionInvert=false, bool stepInvert=false, bool enableInvert=false)

void	setPinsInverted (bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert)

bool	isRunning ()

void	enableInterrupts (bool enable=true)
	Start or stop sending interrupts to controller for this stepper. An interrupt will be sent whenever a state machine change occured which was not triggered by the controller. At the moment, this could either be a target reached condition in runState() or runSpeedToPositionState(), or an endstop reached condition. Before you can use this, you need to define an interrupt pin on you target device with I2Cwrapper::setInterruptPin(). More...

void	setEndstopPin (int8_t pin, bool activeLow, bool internalPullup)
	Define a new endstop pin. Each stepper can have up to two, so don't call this more than twice per stepper. More...

void	enableEndstops (bool enable=true)
	Tell the state machine to check the endstops regularly. If any of the (one or two) stepper's endstops is hit, the state machine will revert to state_stopped. To prevent overshoot, also the stepper's speed is set to 0 and its target to the current position. More...

uint8_t	endstops ()
	Read current raw, i.e. not debounced state of endstops. It's basically one or two digitalReads() combined in one result. More...

void	setState (uint8_t newState)
	Set the state machine's state manually. More...

uint8_t	getState ()
	Read the state machine's state (it may have been changed by endstop or target reached condition). More...

void	stopState ()
	Will stop any of the above states, i.e. stop polling. It does nothing else, so the controller is solely in command of target, speed, and other settings. More...

void	runState ()
	Will poll run(), i.e. run to the target with acceleration and stop the state machine upon reaching it. More...

void	runSpeedState ()
	Will poll runSpeed(), i.e. run at constant speed until told otherwise (see AccelStepperI2C::stopState(). More...

void	runSpeedToPositionState ()
	Will poll runSpeedToPosition(), i.e. run at constant speed until target has been reached. More...

Public Attributes
int8_t	myNum = -1
	Stepper number with myNum >= 0 for successfully added steppers. More...

Constructor & Destructor Documentation

◆ AccelStepperI2C()

AccelStepperI2C::AccelStepperI2C ( I2Cwrapper * w )

Constructor.

Parameters

w	Wrapper object representing the target the stepper is connected to.

Member Function Documentation

◆ attach()

void AccelStepperI2C::attach	(	uint8_t	interface = `AccelStepper::FULL4WIRE`,
		uint8_t	pin1 = `2`,
		uint8_t	pin2 = `3`,
		uint8_t	pin3 = `4`,
		uint8_t	pin4 = `5`,
		bool	enable = `true`
	)

Replaces the AccelStepper constructor and takes the same arguments. Will allocate an AccelStepper object on the target's side and make it ready for use. Does not return an success/error result. Instead check myNum >= 0 to see if the target successfully added the stepper. If not, it's -1.

Parameters

interface	Only AccelStepper::DRIVER is tested at the moment, but AccelStepper::FULL2WIRE, AccelStepper::FULL3WIRE, AccelStepper::FULL4WIRE, AccelStepper::HALF3WIRE, and AccelStepper::HALF4WIRE should work as well, AccelStepper::FUNCTION of course not
pin1,pin2,pin3,pin4,enable	see original library

Note

The target's platform pin names might not be known to the controller's platform, if both are different. So it is safer to use integer equivalents as defined in the respective platform's pins_arduino.h, e.g. for ESP8266:

static const uint8_t D0 = 16;
static const uint8_t D1 = 5;
static const uint8_t D2 = 4;
static const uint8_t D3 = 0;
static const uint8_t D4 = 2;
static const uint8_t D5 = 14;
static const uint8_t D6 = 12;
static const uint8_t D7 = 13;
static const uint8_t D8 = 15; or for plain Arduinos:
#define PIN_A0 (14)
#define PIN_A1 (15)
#define PIN_A2 (16)
#define PIN_A3 (17)
#define PIN_A4 (18)
#define PIN_A5 (19)
#define PIN_A6 (20)
#define PIN_A7 (21)

◆ currentPosition()

long AccelStepperI2C::currentPosition ( )

◆ disableOutputs()

void AccelStepperI2C::disableOutputs ( )

◆ distanceToGo()

long AccelStepperI2C::distanceToGo ( )

◆ enableEndstops()

void AccelStepperI2C::enableEndstops ( bool enable = true )

Tell the state machine to check the endstops regularly. If any of the (one or two) stepper's endstops is hit, the state machine will revert to state_stopped. To prevent overshoot, also the stepper's speed is set to 0 and its target to the current position.

An interrupt will be triggered, if interrupts are enabled, in that case I2Cwrapper::clearInterrupt() will then inform about the interrupt's cause. Independent of an interrupt, the controller can use endstops() to find out if an endstop was hit and which one it was.

A "hit" condition is defined as an end stop switch becoming active. Nothing happens if it stays active or becomes inactive. A simple debouncing mechanism is in place. After a new flank (switch becoming active or inactive), it will ignore any further flanks for a set interval of 5 milliseconds, which should suffice for most switches to get into a stable state.

Todo:: ~~Find solution for moving a stepper out of an endstop's zone.~~ implemented debounce and active-flank detection so that there's no danger of repeated interrupts being triggered while in an endstop's active zone.

Parameters

enable true (default) to enable, false to disable.

◆ enableInterrupts()

void AccelStepperI2C::enableInterrupts ( bool enable = true )

Start or stop sending interrupts to controller for this stepper. An interrupt will be sent whenever a state machine change occured which was not triggered by the controller. At the moment, this could either be a target reached condition in runState() or runSpeedToPositionState(), or an endstop reached condition. Before you can use this, you need to define an interrupt pin on you target device with I2Cwrapper::setInterruptPin().

Parameters

enable true (default) to enable, false to disable.

See also: I2Cwrapper::setInterruptPin()

◆ enableOutputs()

void AccelStepperI2C::enableOutputs ( )

◆ endstops()

uint8_t AccelStepperI2C::endstops ( )

Read current raw, i.e. not debounced state of endstops. It's basically one or two digitalReads() combined in one result.

Returns: One bit for each endstop, LSB is always the last addded endstop. Takes activeLow setting in account, i.e. an activated switch will always return 1.

See also: enableEndstops()

◆ getState()

uint8_t AccelStepperI2C::getState ( )

Read the state machine's state (it may have been changed by endstop or target reached condition).

Returns: one of state_stopped, state_run, state_runSpeed, or state_runSpeedToPosition.

◆ isRunning()

bool AccelStepperI2C::isRunning ( )

◆ maxSpeed()

float AccelStepperI2C::maxSpeed ( )

◆ move()

void AccelStepperI2C::move ( long relative )

◆ moveTo()

void AccelStepperI2C::moveTo ( long absolute )

◆ run()

bool AccelStepperI2C::run ( )

Don't use this, use state machine instead with runState().

Returns: If you use it for whatever reason, check sentOK and resultOK to be sure that things are alright and the return value can be trusted.

◆ runSpeed()

bool AccelStepperI2C::runSpeed ( )

Don't use this, use state machine instead with runSpeedState().

Returns: If you use it for whatever reason, check sentOK and resultOK to be sure that things are alright and the return value can be trusted.

◆ runSpeedState()

void AccelStepperI2C::runSpeedState ( )

Will poll runSpeed(), i.e. run at constant speed until told otherwise (see AccelStepperI2C::stopState().

◆ runSpeedToPosition()

bool AccelStepperI2C::runSpeedToPosition ( )

Don't use this, use state machine instead with runSpeedToPositionState().

Returns: If you use it for whatever reason, check sentOK and resultOK to be sure that things are alright and the return value can be trusted.

◆ runSpeedToPositionState()

void AccelStepperI2C::runSpeedToPositionState ( )

Will poll runSpeedToPosition(), i.e. run at constant speed until target has been reached.

◆ runState()

void AccelStepperI2C::runState ( )

Will poll run(), i.e. run to the target with acceleration and stop the state machine upon reaching it.

◆ runToNewPosition()

void AccelStepperI2C::runToNewPosition ( long position )

This is a blocking function in the original, it will only return after the new target has been reached. This I2C implementation mimicks the original, but uses the state machine and checks for a target reached condition with a fixed frequency of 100ms to keep the I2C bus uncluttered.

Note: Does not check for endstops, implement your own loop if you need them.

◆ runToPosition()

void AccelStepperI2C::runToPosition ( )

This is a blocking function in the original, it will only return after the target has been reached. This I2C implementation mimicks the original, but uses the state machine and checks for a target reached condition with a fixed frequency of 100ms to keep the I2C bus uncluttered.

Note: Does not check for endstops, implement your own loop if you need them.

◆ setAcceleration()

void AccelStepperI2C::setAcceleration ( float acceleration )

◆ setCurrentPosition()

void AccelStepperI2C::setCurrentPosition ( long position )

◆ setEnablePin()

void AccelStepperI2C::setEnablePin ( uint8_t enablePin = 0xff )

◆ setEndstopPin()

void AccelStepperI2C::setEndstopPin	(	int8_t	pin,
		bool	activeLow,
		bool	internalPullup
	)

Define a new endstop pin. Each stepper can have up to two, so don't call this more than twice per stepper.

Parameters

pin	Pin the endstop switch is connected to.
activeLow	True if activated switch will pull pin LOW, false if HIGH.
internalPullup	Use internal pullup for this pin.

See also: Use AccelStepperI2C::enableEndstops() to tell the state machine to actually use the endstop(s). Use AccelStepperI2C::endstops() to read their currentl state

◆ setMaxSpeed()

void AccelStepperI2C::setMaxSpeed ( float speed )

◆ setMinPulseWidth()

void AccelStepperI2C::setMinPulseWidth ( unsigned int minWidth )

◆ setPinsInverted() [1/2]

void AccelStepperI2C::setPinsInverted	(	bool	directionInvert = `false`,
		bool	stepInvert = `false`,
		bool	enableInvert = `false`
	)

◆ setPinsInverted() [2/2]

void AccelStepperI2C::setPinsInverted	(	bool	pin1Invert,
		bool	pin2Invert,
		bool	pin3Invert,
		bool	pin4Invert,
		bool	enableInvert
	)

◆ setSpeed()

void AccelStepperI2C::setSpeed ( float speed )

◆ setState()

void AccelStepperI2C::setState ( uint8_t newState )

Set the state machine's state manually.

Parameters

newState one of state_stopped, state_run, state_runSpeed, or state_runSpeedToPosition.

◆ speed()

float AccelStepperI2C::speed ( )

◆ stop()

void AccelStepperI2C::stop ( )

◆ stopState()

void AccelStepperI2C::stopState ( )

Will stop any of the above states, i.e. stop polling. It does nothing else, so the controller is solely in command of target, speed, and other settings.

◆ targetPosition()

long AccelStepperI2C::targetPosition ( )

Member Data Documentation

◆ myNum

int8_t AccelStepperI2C::myNum = -1

Stepper number with myNum >= 0 for successfully added steppers.

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

Detailed Description

Public Member Functions

Public Attributes

Constructor & Destructor Documentation

◆ AccelStepperI2C()

Member Function Documentation

◆ attach()

◆ currentPosition()

◆ disableOutputs()

◆ distanceToGo()

◆ enableEndstops()

◆ enableInterrupts()

◆ enableOutputs()

◆ endstops()

◆ getState()

◆ isRunning()

◆ maxSpeed()

◆ move()

◆ moveTo()

◆ run()

◆ runSpeed()

◆ runSpeedState()

◆ runSpeedToPosition()

◆ runSpeedToPositionState()

◆ runState()

◆ runToNewPosition()

◆ runToPosition()

◆ setAcceleration()

◆ setCurrentPosition()

◆ setEnablePin()

◆ setEndstopPin()

◆ setMaxSpeed()

◆ setMinPulseWidth()

◆ setPinsInverted() [1/2]

◆ setPinsInverted() [2/2]

◆ setSpeed()

◆ setState()

◆ speed()

◆ stop()

◆ stopState()

◆ targetPosition()

Member Data Documentation

◆ myNum