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Add stepper library for esp-idf

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jonny_ji7 2023-02-21 21:14:16 +01:00
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components/DendoStepper/CMakeLists.txt Normal file
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idf_component_register(SRCS DendoStepper.cpp INCLUDE_DIRS include)

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components/DendoStepper/DendoStepper.cpp Normal file
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#include "DendoStepper.h"
#include "esp_log.h"
#define STEP_DEBUG
#ifdef STEP_DEBUG
#define STEP_LOGI(...) ESP_LOGI(__VA_ARGS__)
#define STEP_LOGW(...) ESP_LOGW(__VA_ARGS__)
#define STEP_LOGE(...) ESP_LOGE(__VA_ARGS__)
#else
#define STEP_LOGI(...) while (0)
#define STEP_LOGW(...) while (0)
#define STEP_LOGE(...) ESP_LOGE(__VA_ARGS__)
#endif
bool state = 0;
// PUBLIC definitions
DendoStepper::DendoStepper()
{
}
void DendoStepper::config(DendoStepper_config_t *config)
{
memcpy(&conf, config, sizeof(conf));
}
void DendoStepper::disableMotor()
{
setEn(true);
STEP_LOGI("DendoStepper", "Disabled");
ctrl.status = DISABLED;
}
void DendoStepper::enableMotor()
{
setEn(false);
ctrl.status = IDLE;
STEP_LOGI("DendoStepper", "Enabled");
timerStarted = 0;
}
void DendoStepper::init(uint8_t stepP, uint8_t dirP, uint8_t enP, timer_group_t group, timer_idx_t index, microStepping_t microstepping = MICROSTEP_1, uint16_t stepsPerRot = 200)
{
conf.stepPin = stepP;
conf.dirPin = dirP;
conf.enPin = enP;
conf.timer_group = group;
conf.timer_idx = index;
conf.miStep = microstepping;
ctrl.status = 0;
init();
}
void DendoStepper::init()
{
uint64_t mask = (1ULL << conf.stepPin) | (1ULL << conf.dirPin) | (1ULL << conf.enPin); // put output gpio pins in bitmask
gpio_config_t gpio_conf = {
// config gpios
.pin_bit_mask = mask,
.mode = GPIO_MODE_OUTPUT,
.pull_up_en = GPIO_PULLUP_DISABLE,
.pull_down_en = GPIO_PULLDOWN_DISABLE,
.intr_type = GPIO_INTR_DISABLE,
};
// set the gpios as per gpio_conf
ESP_ERROR_CHECK(gpio_config(&gpio_conf));
timer_config_t timer_conf = {
.alarm_en = TIMER_ALARM_EN, // we need alarm
.counter_en = TIMER_PAUSE, // dont start now lol
.intr_type = TIMER_INTR_LEVEL, // interrupt
.counter_dir = TIMER_COUNT_UP, // count up duh
.auto_reload = TIMER_AUTORELOAD_EN, // reload pls
.divider = 80000000ULL / TIMER_F, // ns resolution
};
// calculate stepsPerRot
ctrl.stepsPerRot = (360.0 / conf.stepAngle) * conf.miStep;
STEP_LOGI("DendoStepper", "Steps per one rotation:%d", ctrl.stepsPerRot);
if (conf.timer_group != TIMER_GROUP_MAX && conf.timer_idx != TIMER_MAX)
{
// timer was configured explixitly in config structure, we dont need to do it here
goto timer_avail;
}
// try to find free timer
timer_config_t temp;
for (int i = 0; i < 1; i++)
{
for (int j = 0; j < 1; j++)
{
timer_get_config((timer_group_t)i, (timer_idx_t)j, &temp);
if (temp.alarm_en == TIMER_ALARM_DIS)
{
// if the alarm is disabled, chances are no other dendostepper instance is using it
conf.timer_group = (timer_group_t)i;
conf.timer_idx = (timer_idx_t)j;
goto timer_avail;
}
}
}
// if we got here it means that there isnt any free timer available
STEP_LOGE("DendoStepper", "No free timer available, this stepper wont work");
return;
timer_avail:
ESP_ERROR_CHECK(timer_init(conf.timer_group, conf.timer_idx, &timer_conf)); // init the timer
ESP_ERROR_CHECK(timer_set_counter_value(conf.timer_group, conf.timer_idx, 0)); // set it to 0
ESP_ERROR_CHECK(timer_isr_callback_add(conf.timer_group, conf.timer_idx, xISRwrap, this, 0)); // add callback fn to run when alarm is triggrd
}
esp_err_t DendoStepper::runPos(int32_t relative)
{
if (!relative) // why would u call it with 0 wtf
return ESP_ERR_NOT_SUPPORTED;
if (ctrl.status > IDLE)
{ // we are running, we need to adjust steps accordingly, for now just stop the movement
STEP_LOGW("DendoStepper", "Finising previous move, this command will be ignored");
return ESP_ERR_NOT_SUPPORTED;
}
if (ctrl.status == DISABLED) // if motor is disabled, enable it
enableMotor();
ctrl.status = ACC;
setDir(relative < 0); // set CCW if <0, else set CW
currentPos += relative;
calc(abs(relative)); // calculate velocity profile
ESP_ERROR_CHECK(timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval)); // set HW timer alarm to stepinterval
ESP_ERROR_CHECK(timer_start(conf.timer_group, conf.timer_idx)); // start the timer
return ESP_OK;
}
esp_err_t DendoStepper::runPosMm(int32_t relative)
{
if (ctrl.stepsPerMm == 0)
{
STEP_LOGE("DendoStepper", "Steps per millimeter not set, cannot move!");
}
return runPos(relative * ctrl.stepsPerMm);
}
esp_err_t DendoStepper::runAbs(uint32_t position)
{
if (getState() > IDLE) // we are already moving, so stop it
stop();
while (getState() > IDLE)
{
// waiting for idle, watchdog should take care of inf loop if it occurs
vTaskDelay(1);
} // shouldnt take long tho
if (position == currentPos) // we cant go anywhere
return 0;
int32_t relativeSteps = 0;
relativeSteps = (int32_t)position - currentPos;
ESP_LOGI("DendoStepper", "Cur: %llu move %d", currentPos, relativeSteps);
return runPos(relativeSteps); // run to new position
}
esp_err_t DendoStepper::runAbsMm(uint32_t position)
{
if (ctrl.stepsPerMm == 0)
{
STEP_LOGE("DendoStepper", "Steps per millimeter not set, cannot move!");
}
return runAbs(position * ctrl.stepsPerMm);
}
void DendoStepper::setSpeed(uint32_t speed, uint16_t accT, uint16_t decT)
{
ctrl.speed = speed;
ctrl.acc = ctrl.speed / (accT / 4000.0);
ctrl.dec = ctrl.speed / (decT / 4000.0);
STEP_LOGI("DendoStepper", "Speed set: %d steps/s t+=%d s t-=%d s", speed, accT, decT);
}
void DendoStepper::setSpeedMm(uint32_t speed, uint16_t accT, uint16_t decT)
{
if (ctrl.stepsPerMm == 0)
{
STEP_LOGE("DendoStepper", "Steps per millimeter not set, cannot set the speed!");
}
ctrl.speed = speed * ctrl.stepsPerMm;
ctrl.acc = ctrl.speed / (accT / 4000.0);
ctrl.dec = ctrl.speed / (decT / 4000.0);
STEP_LOGI("DendoStepper", "Speed set: v=%d mm/s t+=%d s t-=%d s", speed, accT, decT);
}
void DendoStepper::setStepsPerMm(uint16_t steps)
{
ctrl.stepsPerMm = steps;
}
uint16_t DendoStepper::getStepsPerMm()
{
return ctrl.stepsPerMm;
}
uint8_t DendoStepper::getState()
{
return ctrl.status;
}
uint64_t DendoStepper::getPosition()
{
return currentPos;
}
uint64_t DendoStepper::getPositionMm()
{
return getPosition() / ctrl.stepsPerMm;
}
void DendoStepper::resetAbsolute()
{
currentPos = 0;
}
void DendoStepper::runInf(bool direction)
{
if (ctrl.status > IDLE)
{
STEP_LOGE("DendoStepper", "Motor is moving, this command will be ignored");
return;
}
if (ctrl.status == DISABLED)
{
enableMotor();
}
ctrl.runInfinite = true;
setDir(direction);
calc(UINT32_MAX);
ESP_ERROR_CHECK(timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval)); // set HW timer alarm to stepinterval
ESP_ERROR_CHECK(timer_start(conf.timer_group, conf.timer_idx)); // start the timer
}
uint16_t DendoStepper::getSpeed()
{
return ctrl.speed;
}
float DendoStepper::getAcc()
{
return ctrl.acc;
}
void DendoStepper::stop()
{
if (ctrl.status <= IDLE)
{
return;
}
ctrl.runInfinite = false;
timer_pause(conf.timer_group, conf.timer_idx); // stop the timer
ctrl.status = IDLE;
ctrl.stepCnt = 0;
gpio_set_level((gpio_num_t)conf.stepPin, 0);
}
// PRIVATE definitions
void DendoStepper::setEn(bool state)
{
ESP_ERROR_CHECK(gpio_set_level((gpio_num_t)conf.enPin, state));
}
void DendoStepper::setDir(bool state)
{
ctrl.dir = state;
ESP_ERROR_CHECK(gpio_set_level((gpio_num_t)conf.dirPin, state));
}
/* Timer callback, used for generating pulses and calculating speed profile in real time */
bool DendoStepper::xISR()
{
GPIO.out_w1ts = (1ULL << conf.stepPin);
// add and substract one step
ctrl.stepCnt++;
// we are done
if (ctrl.stepsToGo == ctrl.stepCnt && !ctrl.runInfinite)
{
timer_pause(conf.timer_group, conf.timer_idx); // stop the timer
ctrl.status = IDLE;
ctrl.stepCnt = 0;
return 0;
}
if (ctrl.stepCnt > 0 && ctrl.stepCnt < ctrl.accEnd)
{ // we are accelerating
ctrl.currentSpeed += ctrl.accInc;
ctrl.status = ACC; // we are accelerating, note that*/
}
else if (ctrl.stepCnt > ctrl.coastEnd && !ctrl.runInfinite)
{ // we must be deccelerating then
ctrl.currentSpeed -= ctrl.decInc;
ctrl.status = DEC; // we are deccelerating
}
else
{
ctrl.currentSpeed = ctrl.targetSpeed;
ctrl.status = COAST; // we are coasting
}
ctrl.stepInterval = TIMER_F / ctrl.currentSpeed;
// set alarm to calculated interval and disable pin
GPIO.out_w1tc = (1ULL << conf.stepPin);
timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval);
return 1;
}
void DendoStepper::calc(uint32_t targetSteps)
{
ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc);
ctrl.decSteps = 0.5 * ctrl.dec * (ctrl.speed / ctrl.dec) * (ctrl.speed / ctrl.dec);
if (targetSteps < (ctrl.decSteps + ctrl.accSteps))
{
ESP_LOGI("Dendostepper", "Computing new speed");
ctrl.speed = sqrt(2 * targetSteps * ((ctrl.dec * ctrl.acc) / (ctrl.dec + ctrl.acc)));
ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc);
ctrl.decSteps = 0.5 * ctrl.dec * (ctrl.speed / ctrl.dec) * (ctrl.speed / ctrl.dec);
}
ctrl.accEnd = ctrl.accSteps;
ctrl.coastEnd = targetSteps - ctrl.decSteps;
ctrl.targetSpeed = ctrl.speed;
ctrl.accInc = ctrl.targetSpeed / (double)ctrl.accSteps;
ctrl.decInc = ctrl.targetSpeed / (double)ctrl.decSteps;
ctrl.currentSpeed = ctrl.accInc;
ctrl.stepInterval = TIMER_F / ctrl.currentSpeed;
ctrl.stepsToGo = targetSteps;
STEP_LOGI("calc", "acc end:%u coastend:%u stepstogo:%u speed:%f acc:%f int: %u", ctrl.accEnd, ctrl.coastEnd, ctrl.stepsToGo, ctrl.speed, ctrl.acc, ctrl.stepInterval);
}

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components/DendoStepper/LICENSE Normal file
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# DendoStepper
Work in progress, maybe unstable. Opening issues is more than welcome.
This library takes care of pulse generating for stepper motor drivers with STEP/DIR interface. Pulse generating utilizes general purpose timers to achieve some usable accuracy and smoothness.
Currently supports only linear acceleration and deceleration.
### Known limitations
- maximum number of controlled stepper motors is 4, this is limited by number of general purpose timers
- If the motor is moving, it is not possible to move it to another direction.
## Usage
```c++
typedef struct
{
uint8_t stepPin; /** step signal pin */
uint8_t dirPin; /** dir signal pin */
uint8_t enPin; /** enable signal pin */
timer_group_t timer_group; /** timer group, useful if we are controlling more than 2 steppers */
timer_idx_t timer_idx; /** timer index, useful if we are controlling 2steppers */
microStepping_t miStep; /** microstepping configured on driver - used in distance calculation */
float stepAngle; /** one step angle in degrees (usually 1.8deg), used in steps per rotation calculation */
} DendoStepper_config_t;
enum microStepping_t
{
MICROSTEP_1 = 0x1,
MICROSTEP_2,
MICROSTEP_4 = 0x4,
MICROSTEP_8 = 0x8,
MICROSTEP_16 = 0x10,
MICROSTEP_32 = 0x20,
MICROSTEP_64 = 0x40,
MICROSTEP_128 = 0x80,
MICROSTEP_256 = 0x100,
};
```
Configuration struct, can be allocated on stack or heap.
```c++
void init();
```
Initializes GPIO and Timer peripherals, registers ISR. Expects populated config struct is alreay passed to the class using config()
```c++
void config(DendoStepper_config_t* config);
```
Configures the class as per passed config struct pointer.
```c++
void setStepsPerMm(uint16_t steps);
uint16_t getStepsPerMm();
```
Sets or gets steps needed to move one millimiter, useful if stepper is moving along linear axis.
```c++
void setSpeed(uint16_t speed,uint16_t accT, uint16_t decT);
uint16_t getSpeed();
float getAcc();
```
Sets maximum speed in steps per second, acceleration and deceleration time in milliseconds.
Gets speed in steps per second
Gets acceleration in steps per second per second
```c++
void setSpeedMm(uint16_t speed,uint16_t accT, uint16_t decT);
```
Sets maximum speed in mm/s, acceleration and deceleration time in milliseconds. Expects already defined steps per millimeter with setStepsPerMm()
```c++
void runPos(int32_t relative);
```
Runs motor to position relative from current position in steps, respecting constraints set with setSpeed()
```c++
void runPosMm(int32_t relative);
```
Runs motor to position relative from current position in millimeters, respecting constraints set with setSpeed()
Expects already defined steps per millimeter with setStepsPerMm()
```c++
bool runAbsolute(uint32_t position);
```
Runs motor in absolute coordinate plane. Unit: steps (should be constrained with home switch)
```c++
bool runAbsoluteMm(uint32_t position);
```
Runs motor in absolute coordinate plane. Unit: millimeters (should be constrained with home switch)
Expects already defined steps per millimeter with setStepsPerMm()
```c++
bool runInf(bool direction);
```
Runs motor infintely in desired direction with constrains set using setSpeed().
```c++
void disableMotor();
void enableMotor();
```
Disables and enables motor via EN pin
```c++
uint8_t getState();
enum motor_status{
DISABLED,
IDLE,
ACC,
COAST,
DEC,
};
```
Returns current state of motor, return type is enum motor_status
```c++
void resetAbsolute();
```
Resets absolute position to 0. Called for ex. when endswitch is hit.
```c++
void getPosition();
```
Gets current position in absolute coordinate plane in steps.
```c++
void getPositionMm();
```
Gets current position in absolute coordinate plane in millimeters.
Expects already defined steps per millimeter with setStepsPerMm()
```c++
void stop();
```
Stops the motor dead on the spot. No deceleration is performed this way. Eg. e-stop.

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build/
sdkconfig
sdkconfig.old

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# For more information about build system see
# https://docs.espressif.com/projects/esp-idf/en/latest/api-guides/build-system.html
# The following five lines of boilerplate have to be in your project's
# CMakeLists in this exact order for cmake to work correctly
cmake_minimum_required(VERSION 3.5)
include($ENV{IDF_PATH}/tools/cmake/project.cmake)
set(EXTRA_COMPONENT_DIRS "../")
project(example)

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# _Sample project_
(See the README.md file in the upper level 'examples' directory for more information about examples.)
This is the simplest buildable example. The example is used by command `idf.py create-project`
that copies the project to user specified path and set it's name. For more information follow the [docs page](https://docs.espressif.com/projects/esp-idf/en/latest/api-guides/build-system.html#start-a-new-project)
## How to use example
We encourage the users to use the example as a template for the new projects.
A recommended way is to follow the instructions on a [docs page](https://docs.espressif.com/projects/esp-idf/en/latest/api-guides/build-system.html#start-a-new-project).
## Example folder contents
The project **sample_project** contains one source file in C language [main.c](main/main.c). The file is located in folder [main](main).
ESP-IDF projects are built using CMake. The project build configuration is contained in `CMakeLists.txt`
files that provide set of directives and instructions describing the project's source files and targets
(executable, library, or both).
Below is short explanation of remaining files in the project folder.
```
├── CMakeLists.txt
├── main
│   ├── CMakeLists.txt
│   └── main.c
└── README.md This is the file you are currently reading
```
Additionally, the sample project contains Makefile and component.mk files, used for the legacy Make based build system.
They are not used or needed when building with CMake and idf.py.

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idf_component_register(SRCS "main.cpp"
INCLUDE_DIRS "."
REQUIRES DendoStepper freertos)

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#include <stdio.h>
#include "DendoStepper.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_log.h"
DendoStepper step;
DendoStepper step1;
extern "C" void app_main(void)
{
DendoStepper_config_t step_cfg = {
.stepPin = 16,
.dirPin = 17,
.enPin = 15,
.timer_group = TIMER_GROUP_0,
.timer_idx = TIMER_0,
.miStep = MICROSTEP_32,
.stepAngle = 1.8};
DendoStepper_config_t step1_cfg = {
.stepPin = 18,
.dirPin = 19,
.enPin = 20,
.timer_group = TIMER_GROUP_0,
.timer_idx = TIMER_1,
.miStep = MICROSTEP_32,
.stepAngle = 1.8};
step.config(&step_cfg);
step1.config(&step1_cfg);
step.init();
step1.init();
step.setSpeed(10000, 1000, 1000);
step1.setSpeed(20000, 1000, 1000);
// step.runInf(true);
step.setStepsPerMm(10);
while (1)
{
step.runPosMm(500);
step1.runPos(10000);
vTaskDelay(1000);
// step.runAbs(5000);
}
}

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#pragma once
/* ESP-IDF library for bipolar stepper motor drivers with STEP/DIR interface
Copyright (C) 2022 Denis Voltmann
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#ifndef DENDOSTEPPER_H
#define DENDOSTEPPER_H
#include "stdint.h"
#include "stdio.h"
#include <cstring>
#include "driver/timer.h"
#include "driver/gpio.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_timer.h"
#include "math.h"
//#define STEP_DEBUG
#define NS_TO_T_TICKS(x) (x)
#define TIMER_F 1000000ULL
#define TICK_PER_S TIMER_F
enum motor_status
{
DISABLED,
IDLE,
ACC,
COAST,
DEC
};
enum dir
{
CW,
CCW
};
enum microStepping_t
{
MICROSTEP_1 = 0x1,
MICROSTEP_2,
MICROSTEP_4 = 0x4,
MICROSTEP_8 = 0x8,
MICROSTEP_16 = 0x10,
MICROSTEP_32 = 0x20,
MICROSTEP_64 = 0x40,
MICROSTEP_128 = 0x80,
MICROSTEP_256 = 0x100,
};
/**
* @brief Configuration structure
*/
typedef struct
{
uint8_t stepPin; /** step signal pin */
uint8_t dirPin; /** dir signal pin */
uint8_t enPin; /** enable signal pin */
timer_group_t timer_group; /** timer group, useful if we are controlling more than 2 steppers */
timer_idx_t timer_idx; /** timer index, useful if we are controlling 2steppers */
microStepping_t miStep; /** microstepping configured on driver - used in distance calculation */
float stepAngle; /** one step angle in degrees (usually 1.8deg), used in steps per rotation calculation */
} DendoStepper_config_t;
typedef struct
{
uint32_t stepInterval = 40000; // step interval in ns/25
double targetSpeed = 0; // target speed in steps/s
double currentSpeed = 0;
double accInc = 0;
double decInc = 0;
uint32_t stepCnt = 0; // step counter
uint32_t accEnd; // when to end acc and start coast
uint32_t coastEnd; // when to end coast and start decel
uint32_t stepsToGo = 0; // steps we need to take
float speed = 100; // speed in rad/s
float acc = 100; // acceleration in rad*second^-2
float dec = 100; // decceleration in rad*second^-2
uint32_t accSteps = 0;
uint32_t decSteps = 0;
uint8_t status = DISABLED;
bool dir = CW;
bool runInfinite = false;
uint16_t stepsPerRot; // steps per one revolution, 360/stepAngle * microstep
uint16_t stepsPerMm = 0; /** Steps per one milimiter, if the motor is performing linear movement */
} ctrl_var_t;
class DendoStepper
{
private:
DendoStepper_config_t conf;
ctrl_var_t ctrl;
esp_timer_handle_t dyingTimer;
TaskHandle_t enTask;
uint64_t currentPos = 0; // absolute position
bool timerStarted = 0;
/** @brief PRIVATE: Step interval calculation
* @param speed maximum movement speed
* @param accTimeMs acceleration time in ms
* @param target target position
*/
void calc(uint32_t);
/** @brief sets En GPIO
* @param state 0-LOW,1-HIGH
* @return void
*/
void setEn(bool);
/** @brief sets Dir GPIO
* @param state 0-CW 1-CCW
*/
void setDir(bool);
/** @brief static wrapper for ISR function
* @param _this DendoStepper* this pointer
* @return bool
*/
static bool xISRwrap(void *_this)
{
return static_cast<DendoStepper *>(_this)->xISR();
}
/** @brief enableMotor wrapper
*/
static void _disableMotor(void *_this)
{
static_cast<DendoStepper *>(_this)->disableMotor();
}
bool xISR();
public:
/** @brief Costructor - conf variables to be passed later
*/
DendoStepper();
/** @brief Configuration of library, used with constructor w/o params
* @param config DendoStepper_config_t structure pointer - can be freed after this call
*/
void config(DendoStepper_config_t *config);
/** @brief initialize GPIO and Timer peripherals
* @param stepP step pulse pin
* @param dirP direction signal pin
* @param enP enable signal Pin
* @param group timer group to use (0 or 1)
* @param index which timer to use (0 or 1)
* @param microstepping microstepping performed by the driver, used for more accuracy
* @param stepsPerRot how many steps it takes for the motor to move 2Pi rads. this can be also used instead of microstepping parameter
*/
void init(uint8_t, uint8_t, uint8_t, timer_group_t, timer_idx_t, microStepping_t microstep, uint16_t stepsPerRot);
/** @brief initialize GPIO and Timer peripherals, class must be configured beforehand with @attention config()
*/
void init();
/** @brief runs motor to relative position in steps
* @param relative number of steps to run, negative is reverse
*/
esp_err_t runPos(int32_t relative);
/** @brief runs motor to relative position in mm
* @param relative number of mm to run, negative is reverse
*/
esp_err_t runPosMm(int32_t relative);
/** @brief run motor to position in absolute coordinates (steps)
* @param postition absolute position in steps from home position (must be positive);
* @return ESP_OK if motor can run immediately, ESP_ERR if it is currently moving
*/
esp_err_t runAbs(uint32_t position);
/** @brief run motor to position in absolute coordinates (millimiters)
* @param postition absolute position in mm from home position (must be positive);
* @return ESP_OK if motor can run immediately, ESP_ERR if it is currently moving
*/
esp_err_t runAbsMm(uint32_t position);
/** @brief sets motor speed
* @param speed speed in steps per second
* @param accT acceleration time in ms
* @param decT deceleration time in ms
*/
void setSpeed(uint32_t speed, uint16_t accT, uint16_t decT);
/** @brief sets motor speed and accel in millimeters/second
* @param speed speed mm*s^-1
* @param accT acceleration time in ms
* @param accT deceleration time in ms
*/
void setSpeedMm(uint32_t speed, uint16_t accT, uint16_t decT);
/**
* @brief Set steps per 1 mm of linear movement
*
* @param steps steps needed to move one millimiter
*/
void setStepsPerMm(uint16_t steps);
/**
* @brief get steps per 1mm settings
*
*/
uint16_t getStepsPerMm();
/** @brief set EN pin 1, stops movement
*/
void disableMotor();
/** @brief set EN pin to 0, enables movement
*/
void enableMotor();
/** @brief returns current state
* @return motor_status enum
*/
uint8_t getState();
/** @brief run motor to position in absolute coordinates (millimiters)
* @param postition absolute position in steps from home position (must be positive);
* @return ESP_OK if motor can run immediately, ESP_ERR if it is currently moving
*/
esp_err_t runAbsoluteMm(uint32_t position);
/** @brief returns current absolute position
* @return current absolute postion in steps
*/
uint64_t getPosition();
/** @brief returns current absolute position
* @return current absolute postion in steps
*/
uint64_t getPositionMm();
/** @brief resets absolute pos to 0
*/
void resetAbsolute();
/** @brief
*
*/
void runInf(bool direction);
/** @brief returns current speed in steps per second
*/
uint16_t getSpeed();
/** @brief returns current acceleration time in ms
*/
float getAcc();
/** @brief stops the motor dead, but stays enabled
*/
void stop();
};
#endif

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