otMicrostepShield Class Reference
[MicrostepShield - Double driver for step-motor with microstep capability and opto-coupled inputs, MicrostepShield - Double driver for step-motor with microstep capability and opto-coupled inputs]

Class to manage two step motors with microstep capability and with encoders and user opto-coupled inputs.

#include <otMicrostepShield.h>

Inheritance diagram for otMicrostepShield:

Public Types
typedef enum otMicrostepShield::EncoderSelection	EncoderSelection
typedef enum otMicrostepShield::InputSelection	InputSelection
typedef enum otMicrostepShield::ClockSignal	ClockSignal
enum	EncoderSelection {   ENCODER_OFF = 0x00, ENCODER_0 = 0x10, ENCODER_1 = 0x20, ENCODER_2 = 0x40,   ENCODER_3 = 0x80 }
enum	InputSelection { INPUT_1 = 8, INPUT_2 = 9, INPUT_3 = 10, INPUT_4 = 11 }
enum	ClockSignal { SEL_0 = 0, SEL_1 = 4, SEL_2 = 8, SEL_3 = 12 }
Public Member Functions
	otMicrostepShield ()
void	init (otL6470 *drv, bool track=false, U8 addressIndex=0)
void	driverSelect (U8 id)
void	boardOff ()
void	encoderSelection (EncoderSelection selection)
U8	input (InputSelection input)
void	setClockSelection (ClockSignal sx)
void	move (S32 step0, S32 step1)
void	move (U8 dir0, U32 step0, U8 dir1, U32 step1)
bool	readyMove (bool wait=true)
bool	ready (U8 drv, bool wait=true)
void	motorOff ()

---

Member Typedef Documentation

typedef enum otMicrostepShield::ClockSignal otMicrostepShield.ClockSignal

typedef enum otMicrostepShield::EncoderSelection otMicrostepShield.EncoderSelection

typedef enum otMicrostepShield::InputSelection otMicrostepShield.InputSelection

---

Member Enumeration Documentation

enum otMicrostepShield::ClockSignal

Enumeration values: SEL_0  PF12 for driver 0 and PF13 for driver 1. SEL_1  PF13 for driver 0 and PF14 for driver 1. SEL_2  PF14 for driver 0 and PF15 for driver 1. SEL_3  PF15 for driver 0 and PF12 for driver 1.

enum otMicrostepShield::EncoderSelection

Enumeration values: ENCODER_OFF  Selection of encoder inputs. ENCODER_0  ENCODER_1  ENCODER_2  ENCODER_3

enum otMicrostepShield::InputSelection

Enumeration values: INPUT_1  Y1.2 Y1.4. INPUT_2  Y1.6 Y1.8. INPUT_3  Y1.10 Y1.12. INPUT_4  Y1.14 Y1.16.

---

Constructor & Destructor Documentation

otMicrostepShield.otMicrostepShield (   )

Create the class.

---

Member Function Documentation

void otMicrostepShield.boardOff (   )

Disable SPI selection for this board. driverSelect can select again it.

void otMicrostepShield.driverSelect (  U8  id  )

Select the driver to operate Parameters: id  0 or 1

void otMicrostepShield.encoderSelection (  EncoderSelection  selection  )

Set which encoder channel will be used. Parameters: selection  Encoder channel selection, example: ENCODER_0 | ENCODER_1

void otMicrostepShield.init (  otL6470 *  drv, bool  track = false, U8  addressIndex = 0 )

Set the base address Parameters: drv  L6470 driver pointer track  True if arbitrary tracking is performed. addressIndex  Select which device is selected in the range 0:7

U8 otMicrostepShield.input (  InputSelection  input  )

Read a selected input from available. Parameters: input  Bit selection, see InputSelection Returns: 0 or 1

void otMicrostepShield.motorOff (   )

Stop all movements action and a put the motors off. Fuction requested before set a new motor configuration.

void otMicrostepShield.move (  U8  dir0, U32  step0, U8  dir1, U32  step1 )

Start a positioning on all axys. Parameters: dir0  Direction step0  Number of steps on driver 0 dir1  Direction step1  Number of steps on driver 1

void otMicrostepShield.move (  S32  step0, S32  step1 )

Start a positioning on all axys. Parameters: step0  Number of steps on driver 0, positive value move forward, negative value move backward step1  Number of steps on driver 1, positive value move forward, negative value move backward

bool otMicrostepShield.ready (  U8  drv, bool  wait = true )

Check if the postioning on a specified axys is done. Parameters: drv  Driver selection, 0 or 1 wait  If true wait positioning complete Returns: True if positioning is done

bool otMicrostepShield.readyMove (  bool  wait = true  )

Check if a positioning is done on all axys Parameters: wait  If true wait positioning complete Returns: True if positioning is done

void otMicrostepShield.setClockSelection (  ClockSignal  sx  )

For arbitrary rate generation select which bit will be used. Parameters: sx  Select wich bit will be used for the clock generation. See ClockSignal.

---

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

• otMicrostepShield.h

otStudio - Library Reference - (C) 2020-25 Officina Turini, All Rights Reserved
Document built with Doxygen 1.4.0