Class OpenSkyhawk::StepperMotor

ClassList > OpenSkyhawk > StepperMotor

Non-blocking instrument-gauge stepper driven through PinRef coils.

• #include <StepperMotor.h>

Inherits the following classes: OpenSkyhawk::MotorDriver

Public Functions

Type	Name
	StepperMotor (PinRef c1, PinRef c2, PinRef c3, PinRef c4, const StepperConfig & cfg, PinRef homeSense=PinRef(), PinRef sleepEn=PinRef()) Construct a stepper over four coil pins.
virtual void	configure () override coils OUTPUT, ~SLEEP HIGH, sensor INPUT, energise.
virtual void	home () override blocking homing (STALL or SENSOR), then park.
bool	homed () const True once homing has completed successfully (false if a SENSOR seek aborted).
virtual void	moveTo (int32_t pos) override retarget (clamp/wrap + deadband); non-blocking.
virtual int32_t	position () override const current step (wrapped to 0..stepsPerRev if wrap).
virtual void	update () override step toward target if due; auto-recal.

Public Functions inherited from OpenSkyhawk::MotorDriver

See OpenSkyhawk::MotorDriver

Type	Name
virtual void	configure () = 0 Configure pins / drive hardware. Call once from the owner's configure() .
virtual void	home () = 0 Establish the zero reference (mechanical stop, home sensor, or absolute read).
virtual void	moveTo (int32_t pos) = 0 Set the target position in driver-native units. Non-blocking.
virtual int32_t	position () const = 0 Current position in driver-native units.
virtual void	update () = 0 Advance one step/increment toward the target if due. Call every loop().
virtual	~MotorDriver () = default

Public Functions Documentation

function StepperMotor

Construct a stepper over four coil pins.

OpenSkyhawk::StepperMotor::StepperMotor (
    PinRef c1,
    PinRef c2,
    PinRef c3,
    PinRef c4,
    const StepperConfig & cfg,
    PinRef homeSense=PinRef (),
    PinRef sleepEn=PinRef ()
) 

Parameters:

• c1..c4 Coil PinRefs (GPIO or MCP23017). Swap two to reverse direction.
• cfg Per-instance configuration (copied; cfg.accel must outlive this).
• homeSense Home-sensor PinRef for HomeMode::SENSOR (NC default for STALL).
• sleepEn Optional driver ~SLEEP/enable PinRef, driven HIGH in configure().

---

function configure

coils OUTPUT, ~SLEEP HIGH, sensor INPUT, energise.

virtual void OpenSkyhawk::StepperMotor::configure () override

Implements OpenSkyhawk::MotorDriver::configure

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function home

blocking homing (STALL or SENSOR), then park.

virtual void OpenSkyhawk::StepperMotor::home () override

Implements OpenSkyhawk::MotorDriver::home

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function homed

True once homing has completed successfully (false if a SENSOR seek aborted).

inline bool OpenSkyhawk::StepperMotor::homed () const

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function moveTo

retarget (clamp/wrap + deadband); non-blocking.

virtual void OpenSkyhawk::StepperMotor::moveTo (
    int32_t pos
) override

Implements OpenSkyhawk::MotorDriver::moveTo

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function position

current step (wrapped to 0..stepsPerRev if wrap).

virtual int32_t OpenSkyhawk::StepperMotor::position () override const

Implements OpenSkyhawk::MotorDriver::position

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function update

step toward target if due; auto-recal.

virtual void OpenSkyhawk::StepperMotor::update () override

Implements OpenSkyhawk::MotorDriver::update

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The documentation for this class was generated from the following file Firmware/Libraries/PanelGroup/Drivers/StepperMotor/StepperMotor.h