Class StepDir<S, R>

A stepper behind a step and direction driver chip such as an A4988 or a DRV8825, as pamoja_actuators::stepper::StepDir drives one in Rust.

Each step sets the direction line, high for forward, and holds it for the pulse width, since the chip reads the direction on the step line's rising edge and needs it settled first. Then it pulses the step line high for the pulse width, brings it low, and waits the step interval. Microstepping, current limiting, and enable are the chip's own pins and settings, outside this driver.

Example

const motor = new StepDir(new PinScript(), new PinScript(), { delay: new DelayLog() })
await motor.steps(-1)
motor.position // -1

Type Parameters

S extends OutputLine = OutputLine
R extends OutputLine = OutputLine

Index

Constructors

constructor

new StepDir<
    S extends OutputLine = OutputLine,
    R extends OutputLine = OutputLine,
>(
    step: S,
    direction: R,
    timing?: StepDirTiming,
): StepDir<S, R>
Wraps the step and direction lines, without driving them.
Type Parameters
- S extends OutputLine = OutputLine
- R extends OutputLine = OutputLine
Parameters
- step: S
  The line the chip counts rising edges on.
- direction: R
  The line the chip reads the direction from; high is forward.
- timing: StepDirTiming = {}
  The pulse width, stepper.defaultPulseMicros unless given, the pause after each step, stepper.defaultStepMicros unless given, and what waits them.
Returns StepDir<S, R>
- Defined in actuators/src/index.ts:231

Accessors

position

get position(): number
The step count since the driver was built, forward positive.

Returns number
- Defined in actuators/src/index.ts:240

pulseMicros

get pulseMicros(): number
How long the direction is held before each step pulse, and the pulse itself, in microseconds.

Returns number
- Defined in actuators/src/index.ts:245

stepMicros

get stepMicros(): number
The pause after each step, in microseconds.

Returns number
- Defined in actuators/src/index.ts:250

Methods

release

release(): readonly [S, R]
Hands the lines back.

Returns readonly [S, R]
The step line, then the direction line.
- Defined in actuators/src/index.ts:289

step

step(direction: StepDirection): Promise<void>
Takes one step and waits the step interval.
Parameters
- direction: StepDirection
  Which way to step.
Returns Promise<void>

Throws
Whatever a line throws when it cannot be driven.
- Defined in actuators/src/index.ts:260

steps

steps(count: number): Promise<void>
Takes count steps, backward when negative.
Parameters
- count: number
  The signed number of steps.
Returns Promise<void>

Throws
Whatever a line throws; the steps already taken stay counted.
- Defined in actuators/src/index.ts:277

Class StepDir<S, R>

Example

Type Parameters

Index

Constructors

Accessors

Methods

Constructors

constructor

Type Parameters

Parameters

Returns StepDir<S, R>

Accessors

position

Returns number

pulseMicros

Returns number

stepMicros

Returns number

Methods

release

Returns readonly [S, R]

step

Parameters

Returns Promise<void>

Throws

steps

Parameters

Returns Promise<void>

Throws

Settings

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