Update Stepper_A3967.md
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HomeSpan
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# HomeSpan Status
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# Stepper_A3967
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The optional ***homeSpan*** method, `void setStatusCallback(void (*func)(HS_STATUS status))`, can be used to create a callback function, *func*, that HomeSpan calls whenever its status changes. HomeSpan passes *func* a single argument, *status*, of type *HS_STATUS*, defined as follows:
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This is a derived class of **StepperControl** designed to operate stepper motors driven by a [Toshiba TB6612](https://www.adafruit.com/product/2448) chip, either with or without the use of ESP32 PWM pins. To use, add `#include "extras/Stepper_TB6612.h"` to the top of your sketch.
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```C++
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enum HS_STATUS {
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HS_WIFI_NEEDED, // WiFi Credentials have not yet been set/stored
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HS_WIFI_CONNECTING, // HomeSpan is trying to connect to the network specified in the stored WiFi Credentials
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HS_PAIRING_NEEDED, // HomeSpan is connected to central WiFi network, but device has not yet been paired to HomeKit
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HS_PAIRED, // HomeSpan is connected to central WiFi network and ther device has been paired to HomeKit
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HS_ENTERING_CONFIG_MODE, // User has requested the device to enter into Command Mode
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HS_CONFIG_MODE_EXIT, // HomeSpan is in Command Mode with "Exit Command Mode" specified as choice
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HS_CONFIG_MODE_REBOOT, // HomeSpan is in Command Mode with "Reboot" specified as choice
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HS_CONFIG_MODE_LAUNCH_AP, // HomeSpan is in Command Mode with "Launch Access Point" specified as choice
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HS_CONFIG_MODE_UNPAIR, // HomeSpan is in Command Mode with "Unpair Device" specified as choice
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HS_CONFIG_MODE_ERASE_WIFI, // HomeSpan is in Command Mode with "Erase WiFi Credentials" specified as choice
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HS_CONFIG_MODE_EXIT_SELECTED, // User has selected "Exit Command Mode"
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HS_CONFIG_MODE_REBOOT_SELECTED, // User has select "Reboot" from the Command Mode
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HS_CONFIG_MODE_LAUNCH_AP_SELECTED, // User has selected "Launch AP Access" from the Command Mode
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HS_CONFIG_MODE_UNPAIR_SELECTED, // User has seleected "Unpair Device" from the Command Mode
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HS_CONFIG_MODE_ERASE_WIFI_SELECTED, // User has selected "Erase WiFi Credentials" from the Command Mode
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HS_REBOOTING, // HomeSpan is in the process of rebooting the device
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HS_FACTORY_RESET, // HomeSpan is in the process of performing a Factory Reset of device
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HS_AP_STARTED, // HomeSpan has started the Access Point but no one has yet connected
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HS_AP_CONNECTED, // The Access Point is started and a user device has been connected
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HS_AP_TERMINATED, // HomeSpan has terminated the Access Point
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HS_OTA_STARTED // HomeSpan is in the process of recveived an Over-the-Air software update
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};
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```
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The ***homeSpan*** method `char* statusString(HS_STATUS s)`, is a convenience function for converting any of the above enumerations to short, pre-defined character string messages as follows:
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```C++
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const char* Span::statusString(HS_STATUS s){
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switch(s){
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case HS_WIFI_NEEDED: return("WiFi Credentials Needed");
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case HS_WIFI_CONNECTING: return("WiFi Connecting");
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case HS_PAIRING_NEEDED: return("Device not yet Paired");
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case HS_PAIRED: return("Device Paired");
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case HS_ENTERING_CONFIG_MODE: return("Entering Command Mode");
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case HS_CONFIG_MODE_EXIT: return("1. Exit Command Mode");
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case HS_CONFIG_MODE_REBOOT: return("2. Reboot Device");
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case HS_CONFIG_MODE_LAUNCH_AP: return("3. Launch Access Point");
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case HS_CONFIG_MODE_UNPAIR: return("4. Unpair Device");
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case HS_CONFIG_MODE_ERASE_WIFI: return("5. Erase WiFi Credentials");
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case HS_CONFIG_MODE_EXIT_SELECTED: return("Exiting Command Mode...");
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case HS_CONFIG_MODE_REBOOT_SELECTED: return("Rebooting Device...");
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case HS_CONFIG_MODE_LAUNCH_AP_SELECTED: return("Launching Access Point...");
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case HS_CONFIG_MODE_UNPAIR_SELECTED: return("Unpairing Device...");
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case HS_CONFIG_MODE_ERASE_WIFI_SELECTED: return("Erasing WiFi Credentials...");
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case HS_REBOOTING: return("REBOOTING!");
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case HS_FACTORY_RESET: return("Performing Factory Reset...");
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case HS_AP_STARTED: return("Access Point Started");
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case HS_AP_CONNECTED: return("Access Point Connected");
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case HS_AP_TERMINATED: return("Access Point Terminated");
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case HS_OTA_STARTED: return("OTA Update Started");
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default: return("Unknown");
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}
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}
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```
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### Example:
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```C++
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#include "HomeSpan.h"
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void setup(){
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homeSpan.setStatusCallback(statusUpdate); // set callback function
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...
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homeSpan.begin();
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...
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}
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// create a callback function that simply prints the pre-defined short messages on the Serial Monitor whenever the HomeSpan status changes
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void statusUpdate(HS_STATUS status){
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Serial.printf("\n*** HOMESPAN STATUS CHANGE: %s\n",homeSpan.statusString(status));
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}
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```
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You can of course create any alternative messsages, or take any actions desired, in *func* and do not need to use the pre-defined strings above.
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The Toshiba TB6612 is a generic motor driver providing direct control of two full H-bridges. Wiring is as follows (using Toshiba's names for each pin):
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#### **Power Connections**
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* *VCC* - connect to +3.3V on ESP32
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* *VM* - connect to external DC power supply that will drive stepper motor (5-13V)
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* *GND* (and *PGND1/PGND2*) - connect to GND on the ESP32, and to ground of external DC power supply
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#### **Motor Connections**
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* *AO1, AO2* - connect to the "A" coil of the stepper motor
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* *BO1, BO2* - connect to the "B" coil of the stepper motor
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#### **Control Connections**
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* *AIN1, AIN2* - connect to two digital pins on the ESP32 - will control direction and state of coil *A*
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* *BIN1, BIN2* - connect to two digital pins on the ESP32 - will control direction and state of coil *B*
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* *PWMA, PWMB* - if using PWM, connect to two digital pins on the ESP32; if not, connect to +3.3V on ESP32 to pull high
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* *STBY* - connect to +3.3V on ESP32 to pull high
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The **Stepper_A3967** class includes two constructors:
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* `Stepper_TB6612(int AIN1, int AIN2, int BIN1, int BIN2 [,{uint32_t priority, uint32_t cpu}] )`
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* controls the driver board using only 4 digital pins from the ESP32, where the parameters specify the pin numbers. Supports the following step type modes:
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* FULL_STEP_ONE_PHASE
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* FULL_STEP_TWO_PHASE
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* HALF_STEP
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* `Stepper_TB6612(int AIN1, int AIN2, int BIN1, int BIN2, int PWMA, int PWMB, [,{uint32_t priority, uint32_t cpu}])`
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* controls the driver board using 4 digital pins and 2 PWM pins from the ESP32, where the parameters specify the pin numbers. Supports the following step type modes:
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* FULL_STEP_ONE_PHASE
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* FULL_STEP_TWO_PHASE
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* HALF_STEP
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* QUARTER_STEP
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* EIGHTH_STEP
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Both constructors support an *optional* final parameter consisting of a *brace-enclosed* pair of numbers. The first number in the braces specifies the *priority* of the background task used to control the stepper motor. The second number in the braces specifies the CPU (0 or 1) that **Stepper_A3967** will use to run the background control task (this number is ignored for single-processor chips). The default (and recommended) value of this optional final parameter is {1,0}.
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---
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[↩️](Reference.md) Back to the Reference API page
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[↩️](../Stepper.md) Back to the Stepper Motor Control page
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