Struct OpenSkyhawk::StepperConfig

ClassList > OpenSkyhawk > StepperConfig

Full per-instance stepper configuration. Authored per sketch (panel wiring). More...

• #include <StepperMotor.h>

Public Attributes

Type	Name
const AccelPoint *	accel acceleration curve (not owned)
uint8_t	accelN entries in accel[]
bool	autoRecal re-zero to homePosition when the sensor next asserts
uint8_t	deadband ignore target changes within this many steps
HomeMode	home homing strategy
int16_t	homePosition step index assigned at the home reference
bool	homeSeekClockwise direction to seek the home reference
uint16_t	homeStepUs homing seek rate µs/step; MUST stay under the motor start-stop rate or the seek slips. 0 → library default (2000)
int16_t	maxPos upper travel clamp for moveTo (ignored if wrap)
int16_t	minPos lower travel clamp for moveTo (ignored if wrap)
int16_t	parkPosition step to rest at after homing
StepPattern	pattern coil drive sequence
uint16_t	rangeSteps mechanical stop-to-stop travel in steps; STALL home drives this (+margin). 0 → stepsPerRev
uint32_t	recalDebounceMs minimum interval between auto-recals
HomeSensor	sensor SENSOR-mode params (ignored for STALL)
uint16_t	stepsPerRev steps per full revolution (calibrate empirically)
bool	wrap continuous-rotation gauge (shortest-path, no clamp)

Detailed Description

Note:

accel must point at storage that outlives the StepperMotor (e.g. a static const table). homePosition / parkPosition / minPos / maxPos are in steps; a sketch may compute them from degrees as round(deg*stepsPerRev/360).

Public Attributes Documentation

variable accel

acceleration curve (not owned)

const AccelPoint* OpenSkyhawk::StepperConfig::accel;

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variable accelN

entries in accel[]

uint8_t OpenSkyhawk::StepperConfig::accelN;

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variable autoRecal

re-zero to homePosition when the sensor next asserts

bool OpenSkyhawk::StepperConfig::autoRecal;

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variable deadband

ignore target changes within this many steps

uint8_t OpenSkyhawk::StepperConfig::deadband;

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variable home

homing strategy

HomeMode OpenSkyhawk::StepperConfig::home;

---

variable homePosition

step index assigned at the home reference

int16_t OpenSkyhawk::StepperConfig::homePosition;

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variable homeSeekClockwise

direction to seek the home reference

bool OpenSkyhawk::StepperConfig::homeSeekClockwise;

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variable homeStepUs

homing seek rate µs/step; MUST stay under the motor start-stop rate or the seek slips. 0 → library default (2000)

uint16_t OpenSkyhawk::StepperConfig::homeStepUs;

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variable maxPos

upper travel clamp for moveTo (ignored if wrap)

int16_t OpenSkyhawk::StepperConfig::maxPos;

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variable minPos

lower travel clamp for moveTo (ignored if wrap)

int16_t OpenSkyhawk::StepperConfig::minPos;

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variable parkPosition

step to rest at after homing

int16_t OpenSkyhawk::StepperConfig::parkPosition;

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variable pattern

coil drive sequence

StepPattern OpenSkyhawk::StepperConfig::pattern;

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variable rangeSteps

mechanical stop-to-stop travel in steps; STALL home drives this (+margin). 0 → stepsPerRev

uint16_t OpenSkyhawk::StepperConfig::rangeSteps;

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variable recalDebounceMs

minimum interval between auto-recals

uint32_t OpenSkyhawk::StepperConfig::recalDebounceMs;

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variable sensor

SENSOR-mode params (ignored for STALL)

HomeSensor OpenSkyhawk::StepperConfig::sensor;

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variable stepsPerRev

steps per full revolution (calibrate empirically)

uint16_t OpenSkyhawk::StepperConfig::stepsPerRev;

---

variable wrap

continuous-rotation gauge (shortest-path, no clamp)

bool OpenSkyhawk::StepperConfig::wrap;

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