https://github.com/alex-stone-github/pepstep

Arduino Library for concurrent stepper control
https://github.com/alex-stone-github/pepstep

arduino arduino-ide arduino-library scheduler scheduling-algorithms stepper-library stepper-motor steppers

Last synced: 14 days ago
JSON representation

Arduino Library for concurrent stepper control

• Host: GitHub
• URL: https://github.com/alex-stone-github/pepstep
• Owner: Alex-Stone-Github
• License: mit
• Created: 2025-01-07T14:55:20.000Z (20 days ago)
• Default Branch: master
• Last Pushed: 2025-01-09T21:08:24.000Z (18 days ago)
• Last Synced: 2025-01-09T22:22:08.627Z (18 days ago)
• Topics: arduino, arduino-ide, arduino-library, scheduler, scheduling-algorithms, stepper-library, stepper-motor, steppers
• Language: C++
• Homepage: https://github.com/Alex-Stone-Github/pepstep
• Size: 70.3 KB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

README

        
# Pepstep

_For stepper motors with pep to their step_

![Library Cover Image](docs/cover.png)

## Functionality

This library allows the control of multiple stepper motors concurrently through "ScheduleEntrys."

# Compatability

It supports stepper motors from the  Arduino library. The CNCShield wrapper API, "CNCShieldMotor," looks like this:

```cpp

  auto get(double steps_per_unit) -> double;

  auto set(ScheduleEntry& scheduler, double speed) -> void;

  auto stop(ScheduleEntry& scheduler) -> void;

  auto reset() -> void;

```

# Examples with 

## Simple Example 

```cpp

#include 

#include 

CNCShield arduino_shield;

pep::CNCShieldMotor rotation(arduino_shield.get_motor(0));

pep::CNCShieldMotor linear(arduino_shield.get_motor(1));

void printhi(void*) {

  Serial.println("Hello, World");

  Serial.println(linear.get(1.0));

}

pep::ScheduleEntry schedule[] = {

  CNCSMEntry(rotation),

  CNCSMEntry(linear),

  pep::ScheduleEntry(1000,(void(*)(void*))(&printhi),NULL),

};

void setup() {

  Serial.begin(9600);

  while (!Serial);

  arduino_shield.begin();

  arduino_shield.enable();

  

  rotation.set(schedule[0], 0.1);

  linear.set(schedule[1],0.2);

}

void loop() {

  POLL(schedule);

}

```

## Scheduling Example

```cpp

#include 

#include 

CNCShield arduino_shield;

pep::CNCShieldMotor rotation(arduino_shield.get_motor(0));

pep::CNCShieldMotor linear(arduino_shield.get_motor(1));

void printhi(void*) {

  Serial.println("Hello, World");

  rotation.reset(); // Reset Internal Step Counter, "Encoder"

}

pep::ScheduleEntry schedule[] = {

  pep::ScheduleEntry(10000, (void(*)(void*))(&pep::CNCShieldMotor::step), (void*)&rotation),

  pep::ScheduleEntry(10000, (void(*)(void*))(&pep::CNCShieldMotor::step), (void*)&linear  ),

  pep::ScheduleEntry(1000,  (void(*)(void*))(&printhi),                   NULL            ),

};

void setup() {

  Serial.begin(9600);

  while (!Serial);

  arduino_shield.begin();

  arduino_shield.enable();

  

  rotation.set(schedule[0], 0.1);

  linear.set(schedule[1],0.2);

}

void loop() {

    for (auto& entry : schedule)

      entry.poll(millis());

}

```