Seich
/
HomeSpan
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Update Stepper.md

This commit is contained in:
HomeSpan 2023-07-01 12:44:50 -05:00 committed by GitHub
parent 0f0bc641c8
commit 935104570c
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 7 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
docs/Stepper.md
View File

@ -109,6 +109,12 @@ The **StepperControl** class provides the following methods to operate and contr
* it is possible, though not recommended, to change the step type *mode* while the motor is turning * it is possible, though not recommended, to change the step type *mode* while the motor is turning
* see [Stepper Motor Modes](StepperModes.md) for a brief primer on how stepper motors are typically driven * see [Stepper Motor Modes](StepperModes.md) for a brief primer on how stepper motors are typically driven
### CPU and Task Priority
All **StepperControl** constructors support an *optional* final parameter consisting of a *brace-enclosed* pair of numbers (not shown above). 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 **StepperControl** 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}. Example:
* `new Stepper_TB6612(23,32,22,14,{0,1})` instantiates control of a stepper motor driven by a TB6612 chip, where ESP32 pins 23, 32, 22, and 14 are connected to the AIN1, AIN2, BIN1, and BIN2 pins on the TB6612, respectively; the priority of the background task is set to 0; and the task will be run on cpu 1 (applicable only for a dual-processor chip)
## Example Sketches ## Example Sketches
Below is a simple sketch demonstrating the above methods: Below is a simple sketch demonstrating the above methods: