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Update StepperMotorControl.ino

This commit is contained in:
Gregg 2023-05-31 21:21:53 -05:00
parent 5e1d65f436
commit 94cec6153b
1 changed files with 17 additions and 7 deletions
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24
examples/Other Examples/StepperMotorControl/StepperMotorControl.ino
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@ -26,15 +26,24 @@
********************************************************************************/
// This example demonstrates how to control a real-world Stepper Motor using HomeSpan's
// SpanStep Class. This class is found in a SEPARATE standalone library called HomeStep.
// To invoke, you include the name of the specific stepper motor controller to be used.
// You can include more than one type if needed.
// StepperControl Class. Note the StepperControl Class serves as a generic interface
// and cannot be instantiatiated directly. Rather, you must create a child class derived
// from StepperClass that implements the details of a specific Stepper Motor Driver Board.
// This sketch is based on the WindowShade Accessory from Example 13. Please review
// In this example we will implement a child class of StepperControl designed to operate
// the Adafruit TB6612 1.2A DC/Stepper Motor Driver Breakout Board using only the 4 control
// pins AIN1, AIN2, BIN1, and BIN2 (https://www.adafruit.com/product/2448)
// The implementation of this class is found in the file "Stepper_TB6612.h" included
// with this sketch. By separating the details of the Stepper Motor Driver Board from the
// HomeSpan logic below, you can easily change the code that operates the Stepper Motor Driver Board
// without very little modification to the HomeSpan sketch itself.
// Note this sketch is based on the WindowShade Accessory from Example 13. Please review
// that Example first if new to HomeSpan since it is fully commented.
#include "HomeSpan.h"
#include "Stepper_TB6612.h"
#include "Stepper_TB6612.h" // Here we include the implementation of thge Adafruit TB6612 Stepper Motor Driver Board
////////////////////////////////////
@ -61,7 +70,7 @@ struct DEV_WindowShade : Service::WindowCovering {
boolean update(){
// Move motor to absolute position, assuming 200 steps per revolution and 20 revolutions for full up/travel travel.
// Specify that motor should BRAKE upon moving to desired position.
// Specify that motor should enter the BRAKE state upon reaching to desired position.
motor->moveTo(target->getNewVal()*20,5,Stepper_TB6612::BRAKE);
LOG1("Setting Shade Position=%d\n",target->getNewVal());
@ -72,7 +81,8 @@ struct DEV_WindowShade : Service::WindowCovering {
void loop(){
// Check to see if target value does not equal current value. If not, AND motor has no more steps to move, update current value
// If the current window shade position does NOT equal the target position, BUT the motor has stopped moving,
// we must have reached the target position, so set the current position equal to the target position
if(current->getVal()!=target->getVal() && !motor->stepsRemaining()){
current->setVal(target->getVal());