Stepper

The Stepper class constructs objects that represent a single stepper motor attached to the physical board. This class is new and should be considered unstable.

In order to use the Stepper class, your board must be flashed with AdvancedFirmata, which is available here: https://github.com/soundanalogous/AdvancedFirmata

Stepper motors generally require significantly involved hardware setup (that is, more than just plugging a single lead into a pin).

Parameters

• options An object of property parameters.

Property	Type	Value(s)	Description	Required
pins	Object *	See Table	An object containing the named pin addresses for the 3 supported types	yes *
pins	Array *	See Table	An array containing the pin addresses for the 3 supported types	yes1
stepsPerRev	Number	#	Steps per revolution. This will differ by motor, refer to motor specs for value	yes
type	constant	DRIVER, TWO_WIRE, FOUR_WIRE	five.Stepper.TYPE.DRIVER, five.Stepper.TYPE.TWO_WIRE, five.Stepper.TYPE.FOUR_WIRE	yes
rpm	Number	Per device	Revolutions per minute, used to calculate speed. Defaults to 180	no
direction	Number	-1, 0, 1	Counter-Clockwise: 0, Clockwise: 1, Default: -1 - five.Stepper.DIRECTION.CW - five.Stepper.DIRECTION.CCW	no2

Config	As Object	As Array
DRIVER	{ step, dir }	[ step, dir ]
TWO_WIRE	{ m1, m2 }	[ m1, m2 ]
FOUR_WIRE	{ m1, m2, m3, m4 }	[ m1, m2, m3, m4 ]

1. The pins property is required, but can be EITHER an object or an array.
2. The direction property is not required, but if it is undefined then Stepper.step() will do nothing.

Shape

{ 
  id: A user definable id value. Defaults to a generated uid
  pins: Object containing the pin addresses for the Stepper
  rpm: Revolutions per minute, used to calculate speed. Defaluts to 180
  direction: 
  speed:
  accel:
  decel:
}

Component Initialization

Driver

// Create a stepper motor
// 
//   - Step on pin 11
//   - Direction on pin 12
//   - Steps per revolution: 200
//   - Uses a Driver board
//

new five.Stepper({
  type: five.Stepper.TYPE.DRIVER,
  stepsPerRev: 200,
  pins: [ 11, 12 ]
});

// Is the same as...

five.Stepper({
  type: five.Stepper.TYPE.DRIVER
  stepsPerRev: 200,
  pins: {
    step: 11
    dir: 12
  }
 });

five.Stepper({
  type: five.Stepper.TYPE.DRIVER
  stepsPerRev: number,
  pins: {
    step: number
    dir: number
  }
 });

five.Stepper({
  type: five.Stepper.TYPE.DRIVER
  stepsPerRev: number,
  pins: [ step, dir ]
}); 

TWO WIRE

five.Stepper({
  type: five.Stepper.TYPE.TWO_WIRE
  stepsPerRev: number,
  pins: {
    motor1: number,
    motor2: number
  }
 });

five.Stepper({
  type: five.Stepper.TYPE.TWO_WIRE
  stepsPerRev: number,
  pins: [ motor1, motor2 ]
}); 

five.Stepper({
  type: five.Stepper.TYPE.FOUR_WIRE
  stepsPerRev: number,
  pins: {
    motor1: number,
    motor2: number,
    motor3: number,
    motor4: number
  }
});

FOUR WIRE

five.Stepper({
  type: five.Stepper.TYPE.FOUR_WIRE
  stepsPerRev: number,
  pins: [ motor1, motor2, motor3, motor4 ]
}); 

Usage

var board = new five.Board();

board.on("ready", function() {
  var k = 0;
  var stepper = new five.Stepper({
    type: five.Stepper.TYPE.DRIVER,
    stepsPerRev: 200,
    pins: [11, 12]
  });

  stepper.rpm(180).ccw().step(2000, function() {
    console.log("done");
  });
});

API

• step(stepsOrOpts, callback) Move a stepper motor.

  // stepsOrOpts
  {
    steps: number of steps to move
    direction: 1, 0 (CCW, CW)
    rpm: Revolutions per minute. Defaults to 180
    accel: Number of steps to accelerate
    decel: Number of steps to decelerate
  }
  
  //
  //   - 10 full revolutions
  //   - Clockwise
  //   - Accelerate over the first 1600 steps
  //   - Decelerate over the last 1600 steps
  //
  
  stepper.step({ steps: 2000, direction: 1, accel: 1600, decel: 1600 }, function() {
    console.log("Done stepping!");
  });

• rpm() Get the rpm.

• rpm(value) Set the rpm.

  stepper.rpm(180).step(2000, function() {
    console.log("Done stepping!");
  });

• speed() Get the speed.

• speed(value) Set the speed in 0.01 * rad/s.

  // 180 rpm
  stepper.speed(0.18850).step(2000, function() {
    console.log("Done stepping!");
  });

• direction() Get the direction.

• direction(value) Set the direction.

  stepper.direction(1).step(2000, function() {
    console.log("Done stepping!");
  });
  
  stepper.direction(0).step(2000, function() {
    console.log("Done stepping!");
  });

  Or...

  stepper.direction(five.Stepper.DIRECTION.CW).step(2000, function() {
    console.log("Done stepping!");
  });
  
  stepper.direction(five.Stepper.DIRECTION.CCW).step(2000, function() {
    console.log("Done stepping!");
  });

• accel() Get the acceleration.

• accel(value) Set the acceleration.

  stepper.accel(1600).step(2000, function() {
    console.log("Done stepping!");
  });

• decel() Get the deceleration.

• decel(value) Set the deceleration.

  stepper.decel(1600).step(2000, function() {
    console.log("Done stepping!");
  });

• cw() Set the Stepper to move Clockwise.

  stepper.cw().step(2000);

• ccw() Set the Stepper to move Counter-Clockwise.

  stepper.ccw().step(2000);

Static

Types

Type	Value	Constant
DRIVER	1	Stepper.TYPE.DRIVER
DRIVER	2	Stepper.TYPE.TWO_WIRE
DRIVER	4	Stepper.TYPE.FOUR_WIRE

Run States

State	Value	Constant
STOP	0	Stepper.RUNSTATE.STOP
DRIVER	1	Stepper.RUNSTATE.ACCEL
DRIVER	2	Stepper.RUNSTATE.DECEL
DRIVER	3	Stepper.RUNSTATE.RUN

Directions

Direction	Value	Constant
CCW	0	Stepper.DIRECTION.CCW
CW	1	Stepper.DIRECTION.CW