aruna::driver::ESP32_Stepper Class Reference

#include <ESP32_Stepper.h>

Inheritance diagram for aruna::driver::ESP32_Stepper:

Collaboration diagram for aruna::driver::ESP32_Stepper:

Private Member Functions
err_t	init_pin (uint8_t pin_nr) override
	init single pin as output More...
err_t	set_pin (uint8_t pin_nr, bool value) override
	set pin level high or low More...
err_t	clear_pin (uint8_t pin_nr) override
	clear single pin after program is finished More...

Additional Inherited Members
Public Member Functions inherited from aruna::driver::Stepper
	Stepper (uint8_t *pins, size_t pins_count, movement::axis_mask_t axis, bool active_high)
	Stepper motor. More...
void	set_speed (int16_t speed)
	Set speed of the stepper motor. More...
void	do_steps (int32_t steps)
	Do an x number of steps. More...
	~Stepper ()
	destructor. More...
Public Member Functions inherited from aruna::movement::Actuator
	Actuator (axis_mask_t axis=axis_mask_t::NONE)
	Actuator object, used by the movement module for vehicle movement. More...
virtual	~Actuator ()
err_t	set_axis (axis_mask_t new_axis)
	Set the axis that this Actuator is capable in moving in. More...
axis_mask_t	get_axis ()
	get the movement modes that this driver supports. More...
err_t	set (axis_mask_t axisMask, int16_t speed)
	Set the speed of the motors directly. More...
uint16_t	get_speed ()
	Get the current speed of Actuator. More...
Public Attributes inherited from aruna::movement::Actuator
err_t	startup_error = err_t::NOT_STARTED
	error when constructing gets put here, read before usage. More...
Static Protected Member Functions inherited from aruna::movement::Actuator
static double	convert_range (uint16_t input, float range_max=100.f, float range_min=0.f)
	Convert uint16 to a new range. More...

Detailed Description

Definition at line 12 of file ESP32_Stepper.h.

Member Function Documentation

clear_pin()

aruna::err_t ESP32_Stepper::clear_pin ( uint8_t  pin_nr )

overrideprivatevirtual

clear single pin after program is finished

Parameters

pin_nr

pin to clear

Returns

err_t

Reimplemented from aruna::driver::Stepper.

Definition at line 25 of file ESP32_Stepper.cpp.

                                                  {
    gpio_reset_pin((gpio_num_t)pin_nr);
    return err_t::OK;
}

init_pin()

aruna::err_t ESP32_Stepper::init_pin ( uint8_t  pin_nr )

overrideprivatevirtual

init single pin as output

Parameters

pin_nr,pin

to initialize

Returns

err_t

Implements aruna::driver::Stepper.

Definition at line 10 of file ESP32_Stepper.cpp.

                                                 {
//    TODO use gpio_config() instead
    if (gpio_set_direction((gpio_num_t) pin_nr, GPIO_MODE_OUTPUT) != ESP_OK)
        return err_t::INVALID_PARAMETERS;
    else
        return err_t::OK;
}

set_pin()

aruna::err_t ESP32_Stepper::set_pin ( uint8_t  pin_nr, bool  value  )

overrideprivatevirtual

set pin level high or low

Parameters

pin_nr,pin	to set
value,bool.	true for high, false for low

Returns

err_t

Implements aruna::driver::Stepper.

Definition at line 18 of file ESP32_Stepper.cpp.

                                                            {
    if (gpio_set_level((gpio_num_t)pin_nr, value) != ESP_OK)
        return err_t::INVALID_PARAMETERS;
    else
        return err_t::OK;
}

---

The documentation for this class was generated from the following files:

• include/aruna/driver/port/ESP32/ESP32_Stepper.h
• src/driver/port/ESP32/ESP32_Stepper.cpp