BeRTOS
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Stepper configuration. More...
#include <stepper.h>
Data Fields | |
struct Ramp | ramp |
Acceleration ramp. | |
uint16_t | pulse |
(clocks) Length of the clock pulse used to drive the motor | |
fsm_state | states [STEPPER_MAX_STATES] |
Custom FSM states (or NULL for default handling) | |
int16_t | stepsInHome |
Additional steps to do after home detection. | |
int16_t | stepsOutHome |
Additional steps to do leaving sensor in home procedure. | |
uint16_t | clocksHome |
Clock ticks for steps done when searching home. | |
int16_t | stepsTollOutHome |
tolerance steps leaving home sensor control while moving | |
int16_t | stepsTollInHome |
tolerance steps leaving home sensor control while moving | |
int16_t | timeoutHome |
timeout in ms in home procedure | |
uint8_t | powerRun |
Vref voltage when motor runs (0-255) | |
uint8_t | powerIdle |
Vref voltage when motor is idle (0-255) | |
uint16_t | homeSensorIndex |
Home Sensor index in the sensor list. | |
uint16_t | levelSensorIndex |
Level Sensor index in the sensor list. | |
bool | homeInverted: 1 |
True for inverted home sensor. | |
bool | halfStep: 1 |
True for half-step mode. | |
bool | axisInverted: 1 |
True if the CW/CCW are inverted from default. | |
bool | levelInverted: 1 |
True for inverted level sensor. | |
bool | controlBit: 1 |
Control bit status. | |
bool | controlMoveBit: 1 |
Control bit status in movement. | |
bool | highcurrentBit: 1 |
Mantain high current bit status. |