Example: control a stepper motor. More...

#include "stdio.h"
#include <termios.h>
#include <unistd.h>
#include <errno.h>
#include <sys/types.h>
#include <sys/time.h>
#include "libpruio/pruio.h"
#include "libpruio/pruio_pins.h"

Include dependency graph for stepper.c:

Go to the source code of this file.

Macros
#define	_GNU_SOURCE 1
	Message for the compiler.

#define	P1 P8_08
	The first pin of the stepper.

#define	P2 P8_10
	The second pin of the stepper.

#define	P3 P8_12
	The third pin of the stepper.

#define	P4 P8_14
	The fourth pin of the stepper.

#define	PIN_OUT(a, b, c, d)
	Set values of all four output pins. More...

Functions
int	isleep (unsigned int mseconds)
	Wait for keystroke or timeout. More...

void	move (pruIo *Io, int Rot)
	Make the motor move the next step. More...

int	main (int argc, char **argv)
	The main function. More...

Detailed Description

Example: control a stepper motor.

This file contains an example on how to use libpruio to control a 4-wire stepper motor:

configure 4 pins as output
receive user action in loop
inform user about the current state
change motor direction
change motor speed
stop holded or in power off mode
move a single step (in holded mode)
quit

Find a functional description in section stepper.

Compile by: gcc -Wall -o stepper stepper.c -lpruio

Since: 0.0

Definition in file stepper.c.

Macro Definition Documentation

◆ PIN_OUT

#define PIN_OUT	(	a,
		b,
		c,
		d
	)

Value:

  if (pruio_gpio_setValue(Io, P1, a)) {printf("setValue P1 error (%s)\n", Io->Errr); break;} \
  if (pruio_gpio_setValue(Io, P2, b)) {printf("setValue P2 error (%s)\n", Io->Errr); break;} \
  if (pruio_gpio_setValue(Io, P3, c)) {printf("setValue P3 error (%s)\n", Io->Errr); break;} \
  if (pruio_gpio_setValue(Io, P4, d)) {printf("setValue P4 error (%s)\n", Io->Errr); break;}

Set values of all four output pins.

Definition at line 73 of file stepper.c.

Function Documentation

◆ isleep()

int isleep ( unsigned int mseconds )

Wait for keystroke or timeout.

Parameters

mseconds Timeout value in milliseconds.

Returns: 0 if timeout, 1 if input available, -1 on error.

Wait for a keystroke or timeout and return which of the events happened.

Definition at line 54 of file stepper.c.

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◆ main()

int main	(	int	argc,
		char **	argv
	)

The main function.

create new driver structure

Definition at line 109 of file stepper.c.

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◆ move()

void move	(	pruIo *	Io,
		int	Rot
	)

Make the motor move the next step.

Parameters

Io	Pointer to PruIo structure.
Rot	Rotation direction (1 or -1).

This function sets 4 output pins for a stepper motor driver. It remembers the last step as static variable (starting at 0 = zero) and adds the new position to it. So the Rot parameter should either be 1 or -1 to make the motor move one step in any direction.

Definition at line 90 of file stepper.c.