update to version 1.3
see version history
This commit is contained in:
cocktailyogi
@@ -23,23 +23,28 @@
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/// The latest version of this documentation can be downloaded from
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/// http://www.airspayce.com/mikem/arduino/AccelStepper
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/// The version of the package that this documentation refers to can be downloaded
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/// from http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.39.zip
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/// from http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.47.zip
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///
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/// Example Arduino programs are included to show the main modes of use.
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///
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/// You can also find online help and discussion at http://groups.google.com/group/accelstepper
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/// Please use that group for all questions and discussions on this topic.
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/// Do not contact the author directly, unless it is to discuss commercial licensing.
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/// Before asking a question or reporting a bug, please read http://www.catb.org/esr/faqs/smart-questions.html
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///
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/// Tested on Arduino Diecimila and Mega with arduino-0018 & arduino-0021
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/// on OpenSuSE 11.1 and avr-libc-1.6.1-1.15,
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/// cross-avr-binutils-2.19-9.1, cross-avr-gcc-4.1.3_20080612-26.5.
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/// Tested on Teensy http://www.pjrc.com/teensy including Teensy 3.1 built using Arduino IDE 1.0.5 with
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/// teensyduino addon 1.18 and later.
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///
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/// \par Installation
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///
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/// Install in the usual way: unzip the distribution zip file to the libraries
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/// sub-folder of your sketchbook.
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///
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/// \par Theory
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///
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/// This code uses speed calculations as described in
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/// "Generate stepper-motor speed profiles in real time" by David Austin
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/// http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf
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@@ -49,6 +54,23 @@
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/// On subsequent steps, shorter step intervals are calculated based
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/// on the previous step until max speed is achieved.
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///
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/// \par Donations
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///
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/// This library is offered under a free GPL license for those who want to use it that way.
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/// We try hard to keep it up to date, fix bugs
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/// and to provide free support. If this library has helped you save time or money, please consider donating at
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/// http://www.airspayce.com or here:
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///
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/// \htmlonly <form action="https://www.paypal.com/cgi-bin/webscr" method="post"><input type="hidden" name="cmd" value="_donations" /> <input type="hidden" name="business" value="mikem@airspayce.com" /> <input type="hidden" name="lc" value="AU" /> <input type="hidden" name="item_name" value="Airspayce" /> <input type="hidden" name="item_number" value="AccelStepper" /> <input type="hidden" name="currency_code" value="USD" /> <input type="hidden" name="bn" value="PP-DonationsBF:btn_donateCC_LG.gif:NonHosted" /> <input type="image" alt="PayPal — The safer, easier way to pay online." name="submit" src="https://www.paypalobjects.com/en_AU/i/btn/btn_donateCC_LG.gif" /> <img alt="" src="https://www.paypalobjects.com/en_AU/i/scr/pixel.gif" width="1" height="1" border="0" /></form> \endhtmlonly
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///
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/// \par Trademarks
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///
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/// AccelStepper is a trademark of AirSpayce Pty Ltd. The AccelStepper mark was first used on April 26 2010 for
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/// international trade, and is used only in relation to motor control hardware and software.
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/// It is not to be confused with any other similar marks covering other goods and services.
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///
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/// \par Copyright
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///
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/// This software is Copyright (C) 2010 Mike McCauley. Use is subject to license
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/// conditions. The main licensing options available are GPL V2 or Commercial:
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///
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@@ -156,10 +178,26 @@
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/// \version 1.38 run() function incorrectly always returned true. Updated function and doc so it returns true
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/// if the motor is still running to the target position.
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/// \version 1.39 Updated typos in keywords.txt, courtesey Jon Magill.
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/// \version 1.40 Updated documentation, including testing on Teensy 3.1
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/// \version 1.41 Fixed an error in the acceleration calculations, resulting in acceleration of haldf the intended value
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/// \version 1.42 Improved support for FULL3WIRE and HALF3WIRE output pins. These changes were in Yuri's original
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/// contribution but did not make it into production.<br>
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/// \version 1.43 Added DualMotorShield example. Shows how to use AccelStepper to control 2 x 2 phase steppers using the
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/// Itead Studio Arduino Dual Stepper Motor Driver Shield model IM120417015.<br>
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/// \version 1.44 examples/DualMotorShield/DualMotorShield.ino examples/DualMotorShield/DualMotorShield.pde
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/// was missing from the distribution.<br>
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/// \version 1.45 Fixed a problem where if setAcceleration was not called, there was no default
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/// acceleration. Reported by Michael Newman.<br>
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/// \version 1.45 Fixed inaccuracy in acceleration rate by using Equation 15, suggested by Sebastian Gracki.<br>
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/// Performance improvements in runSpeed suggested by Jaakko Fagerlund.<br>
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/// \version 1.46 Fixed error in documentation for runToPosition().
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/// Reinstated time calculations in runSpeed() since new version is reported
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/// not to work correctly under some circumstances. Reported by Oleg V Gavva.<br>
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///
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/// \author Mike McCauley (mikem@airspayce.com) DO NOT CONTACT THE AUTHOR DIRECTLY: USE THE LISTS
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// Copyright (C) 2009-2013 Mike McCauley
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// $Id: AccelStepper.h,v 1.19 2013/08/02 01:53:21 mikem Exp mikem $
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// $Id: AccelStepper.h,v 1.21 2014/10/31 06:05:30 mikem Exp mikem $
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#ifndef AccelStepper_h
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#define AccelStepper_h
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@@ -196,7 +234,7 @@
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/// Positions are specified by a signed long integer. At
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/// construction time, the current position of the motor is consider to be 0. Positive
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/// positions are clockwise from the initial position; negative positions are
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/// anticlockwise. The curent position can be altered for instance after
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/// anticlockwise. The current position can be altered for instance after
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/// initialization positioning.
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///
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/// \par Caveats
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@@ -252,16 +290,16 @@ public:
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/// AccelStepper::HALF4WIRE (8) means a 4 wire half stepper (4 pins required)
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/// Defaults to AccelStepper::FULL4WIRE (4) pins.
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/// \param[in] pin1 Arduino digital pin number for motor pin 1. Defaults
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/// to pin 2. For a AccelStepper::DRIVER (pins==1),
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/// to pin 2. For a AccelStepper::DRIVER (interface==1),
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/// this is the Step input to the driver. Low to high transition means to step)
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/// \param[in] pin2 Arduino digital pin number for motor pin 2. Defaults
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/// to pin 3. For a AccelStepper::DRIVER (pins==1),
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/// to pin 3. For a AccelStepper::DRIVER (interface==1),
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/// this is the Direction input the driver. High means forward.
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/// \param[in] pin3 Arduino digital pin number for motor pin 3. Defaults
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/// to pin 4.
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/// \param[in] pin4 Arduino digital pin number for motor pin 4. Defaults
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/// to pin 5.
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/// \param[in] enable If this is true (the default), enableOutpuys() will be called to enable
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/// \param[in] enable If this is true (the default), enableOutputs() will be called to enable
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/// the output pins at construction time.
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AccelStepper(uint8_t interface = AccelStepper::FULL4WIRE, uint8_t pin1 = 2, uint8_t pin2 = 3, uint8_t pin3 = 4, uint8_t pin4 = 5, bool enable = true);
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@@ -304,6 +342,7 @@ public:
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/// Sets the maximum permitted speed. The run() function will accelerate
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/// up to the speed set by this function.
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/// Caution: the maximum speed achievable depends on your processor and clock speed.
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/// \param[in] speed The desired maximum speed in steps per second. Must
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/// be > 0. Caution: Speeds that exceed the maximum speed supported by the processor may
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/// Result in non-linear accelerations and decelerations.
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@@ -351,7 +390,7 @@ public:
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/// happens to be right now.
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void setCurrentPosition(long position);
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/// Moves the motor at the currently selected constant speed (forward or reverse)
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/// Moves the motor (with acceleration/deceleration)
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/// to the target position and blocks until it is at
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/// position. Dont use this in event loops, since it blocks.
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void runToPosition();
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@@ -361,13 +400,14 @@ public:
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/// \return true if it stepped
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boolean runSpeedToPosition();
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/// Moves the motor to the new target position and blocks until it is at
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/// Moves the motor (with acceleration/deceleration)
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/// to the new target position and blocks until it is at
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/// position. Dont use this in event loops, since it blocks.
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/// \param[in] position The new target position.
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void runToNewPosition(long position);
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/// Sets a new target position that causes the stepper
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/// to stop as quickly as possible, using to the current speed and acceleration parameters.
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/// to stop as quickly as possible, using the current speed and acceleration parameters.
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void stop();
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/// Disable motor pin outputs by setting them all LOW
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@@ -618,4 +658,9 @@ private:
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/// Shows how to use AccelStepper to control a 3-phase motor, such as a HDD spindle motor
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/// using the Adafruit Motor Shield http://www.ladyada.net/make/mshield/index.html.
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/// @example DualMotorShield.pde
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/// Shows how to use AccelStepper to control 2 x 2 phase steppers using the
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/// Itead Studio Arduino Dual Stepper Motor Driver Shield
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/// model IM120417015
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#endif
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