From 7fb3503b126a55911470e487786bd0272f1ac5a8 Mon Sep 17 00:00:00 2001 From: HomeSpan Date: Mon, 26 Jun 2023 21:01:41 -0500 Subject: [PATCH 01/10] Update StepperModes.md --- docs/StepperModes.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/docs/StepperModes.md b/docs/StepperModes.md index 36e3516..3c966a9 100644 --- a/docs/StepperModes.md +++ b/docs/StepperModes.md @@ -4,4 +4,6 @@ ![fullStep1](images/fullStepOnePhase.png) -![halfStep2](images/halfStep.png) +![halfStep](images/halfStep.png) + +![pwmSteps](images/StepperPWM.png) From fd1d46efca1445b339b70482e83bbb06fcff30fe Mon Sep 17 00:00:00 2001 From: HomeSpan Date: Mon, 26 Jun 2023 21:20:34 -0500 Subject: [PATCH 02/10] Update StepperModes.md --- docs/StepperModes.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/docs/StepperModes.md b/docs/StepperModes.md index 3c966a9..bbdea00 100644 --- a/docs/StepperModes.md +++ b/docs/StepperModes.md @@ -1,5 +1,7 @@ # Stepper Motor Modes +A typical 4-wire stepper motors has 2 independent sets of coils, *A* and *B*. A driver chip, which usually contains two full-bridge circuits, controls the amount and direction of current flowing through each coil. When one or both coils are energized, a magnetic field is created with a repeating pattern of peaks and valleys + ![fullStep2](images/fullStepTwoPhase.png) ![fullStep1](images/fullStepOnePhase.png) From c07caf3bef9da8797fadfe21a001bce80e21e960 Mon Sep 17 00:00:00 2001 From: HomeSpan Date: Mon, 26 Jun 2023 21:41:16 -0500 Subject: [PATCH 03/10] Update StepperModes.md --- docs/StepperModes.md | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/docs/StepperModes.md b/docs/StepperModes.md index bbdea00..50904fe 100644 --- a/docs/StepperModes.md +++ b/docs/StepperModes.md @@ -1,6 +1,12 @@ # Stepper Motor Modes -A typical 4-wire stepper motors has 2 independent sets of coils, *A* and *B*. A driver chip, which usually contains two full-bridge circuits, controls the amount and direction of current flowing through each coil. When one or both coils are energized, a magnetic field is created with a repeating pattern of peaks and valleys +A typical 4-wire stepper motor has two sets of coils, *A* and *B*. A driver chip, which usually contains two full-bridge circuits, independently controls the amount and direction of current flowing through each coil. When current flows through one or both coils, a magnetic field is created with a repeating pattern of peaks and valleys. The precise pattern depends on the amount and direction of the current in each coil. + +A rotor at the center of the motor (which may itself be magnetic, or is constructed out of a ferromagnetic material such as iron) aligns itself with the valleys of the magnetic field created by the coils. As long as current continues flowing, the magnetic field keeps the rotor in a fixed position, preventing the motor from being turned. + +Changing the current through the coils changes the pattern of the magnetic peaks and valleys, and the rotor moves to follow the valleys. By carefully choosing how to change the current flow, you can cause the rotor to make a small "step" in either the clockwise or counterclockwise direction. Changing the current according to different patterns yields step sizes and different performance characteristics for thre of the motor. + +type of "steps" the current in In this fashion the motor can be turned from one "step" to another. ![fullStep2](images/fullStepTwoPhase.png) From 94ef082ddfc78091c219484ea302ec55149d36c2 Mon Sep 17 00:00:00 2001 From: HomeSpan Date: Mon, 26 Jun 2023 21:49:21 -0500 Subject: [PATCH 04/10] Update StepperModes.md --- docs/StepperModes.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/StepperModes.md b/docs/StepperModes.md index 50904fe..ddeb005 100644 --- a/docs/StepperModes.md +++ b/docs/StepperModes.md @@ -4,7 +4,7 @@ A typical 4-wire stepper motor has two sets of coils, *A* and *B*. A driver chi A rotor at the center of the motor (which may itself be magnetic, or is constructed out of a ferromagnetic material such as iron) aligns itself with the valleys of the magnetic field created by the coils. As long as current continues flowing, the magnetic field keeps the rotor in a fixed position, preventing the motor from being turned. -Changing the current through the coils changes the pattern of the magnetic peaks and valleys, and the rotor moves to follow the valleys. By carefully choosing how to change the current flow, you can cause the rotor to make a small "step" in either the clockwise or counterclockwise direction. Changing the current according to different patterns yields step sizes and different performance characteristics for thre of the motor. +Changing the current through the coils changes the pattern of the magnetic peaks and valleys, which causes the rotor to move since it follows the valleys. By repeatedly chaning the current through each coil in a specific pattern, you can cause the rotorcarefully choosing how to change the current flow, you can cause the rotor to make a small "step" in either the clockwise or counterclockwise direction. Changing the current according to different patterns yields step sizes and different performance characteristics for thre of the motor. type of "steps" the current in In this fashion the motor can be turned from one "step" to another. From ffbf3364e3af1dcd2225617e63b0cb1bfd5f8454 Mon Sep 17 00:00:00 2001 From: HomeSpan Date: Tue, 27 Jun 2023 06:02:07 -0500 Subject: [PATCH 05/10] Update StepperModes.md --- docs/StepperModes.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/docs/StepperModes.md b/docs/StepperModes.md index ddeb005..9be7379 100644 --- a/docs/StepperModes.md +++ b/docs/StepperModes.md @@ -1,6 +1,8 @@ # Stepper Motor Modes -A typical 4-wire stepper motor has two sets of coils, *A* and *B*. A driver chip, which usually contains two full-bridge circuits, independently controls the amount and direction of current flowing through each coil. When current flows through one or both coils, a magnetic field is created with a repeating pattern of peaks and valleys. The precise pattern depends on the amount and direction of the current in each coil. +A typical stepper motor has two sets of coils, *A* and *B*. Applying a current to one or both coils creates a magnetic field that fixes the motor's position. Any changes to the direction and/or magnitude of the current flowing through the coils causes the motor to "step" to a new fixed position. By repeatedly changing the current flow according to a specific pattern the motor can be made to continuously step clockwise or counterclockwise. The specific pattern chosen determines the size of the step, the direction of rotation, and overall performance of the motor. The speed at which changes to the current flow are made determines the speed at which the motor rotates. + +causes the motor to lock into positon. A driver chip, which usually contains two full-bridge circuits, independently controls the amount and direction of current flowing through each coil. When current flows through one or both coils, a magnetic field is created with a repeating pattern of peaks and valleys. The precise pattern depends on the amount and direction of the current in each coil. A rotor at the center of the motor (which may itself be magnetic, or is constructed out of a ferromagnetic material such as iron) aligns itself with the valleys of the magnetic field created by the coils. As long as current continues flowing, the magnetic field keeps the rotor in a fixed position, preventing the motor from being turned. From 9d08432acc1956eb1adc545d360df86565d67899 Mon Sep 17 00:00:00 2001 From: HomeSpan Date: Tue, 27 Jun 2023 06:07:46 -0500 Subject: [PATCH 06/10] Update StepperModes.md --- docs/StepperModes.md | 16 ++++------------ 1 file changed, 4 insertions(+), 12 deletions(-) diff --git a/docs/StepperModes.md b/docs/StepperModes.md index 9be7379..c6bfba3 100644 --- a/docs/StepperModes.md +++ b/docs/StepperModes.md @@ -2,18 +2,10 @@ A typical stepper motor has two sets of coils, *A* and *B*. Applying a current to one or both coils creates a magnetic field that fixes the motor's position. Any changes to the direction and/or magnitude of the current flowing through the coils causes the motor to "step" to a new fixed position. By repeatedly changing the current flow according to a specific pattern the motor can be made to continuously step clockwise or counterclockwise. The specific pattern chosen determines the size of the step, the direction of rotation, and overall performance of the motor. The speed at which changes to the current flow are made determines the speed at which the motor rotates. -causes the motor to lock into positon. A driver chip, which usually contains two full-bridge circuits, independently controls the amount and direction of current flowing through each coil. When current flows through one or both coils, a magnetic field is created with a repeating pattern of peaks and valleys. The precise pattern depends on the amount and direction of the current in each coil. +[fullStep2](images/fullStepTwoPhase.png) -A rotor at the center of the motor (which may itself be magnetic, or is constructed out of a ferromagnetic material such as iron) aligns itself with the valleys of the magnetic field created by the coils. As long as current continues flowing, the magnetic field keeps the rotor in a fixed position, preventing the motor from being turned. +[fullStep1](images/fullStepOnePhase.png) -Changing the current through the coils changes the pattern of the magnetic peaks and valleys, which causes the rotor to move since it follows the valleys. By repeatedly chaning the current through each coil in a specific pattern, you can cause the rotorcarefully choosing how to change the current flow, you can cause the rotor to make a small "step" in either the clockwise or counterclockwise direction. Changing the current according to different patterns yields step sizes and different performance characteristics for thre of the motor. +[halfStep](images/halfStep.png) -type of "steps" the current in In this fashion the motor can be turned from one "step" to another. - -![fullStep2](images/fullStepTwoPhase.png) - -![fullStep1](images/fullStepOnePhase.png) - -![halfStep](images/halfStep.png) - -![pwmSteps](images/StepperPWM.png) +[pwmSteps](images/StepperPWM.png) From 626e1c9713258f5b01b61409e3b1b4647d75f68f Mon Sep 17 00:00:00 2001 From: HomeSpan Date: Tue, 27 Jun 2023 06:10:01 -0500 Subject: [PATCH 07/10] Update Stepper.md --- docs/Stepper.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/Stepper.md b/docs/Stepper.md index 96fbb4f..6d4b8a1 100644 --- a/docs/Stepper.md +++ b/docs/Stepper.md @@ -107,7 +107,7 @@ The **StepperControl** class provides the following methods to operate and contr * not all *modes* are supported by all driver chips * the quarter- and eighth-step modes require microstepping PWM functionality (either via ESP32 pins, or onboard the driver chip) * it is possible, though not recommended, to change the step type *mode* while the motor is turning - * see Stepper Motor Modes 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 --- From 0c76a9e214f29ae8de12fb2cc14d2b90f5449585 Mon Sep 17 00:00:00 2001 From: HomeSpan Date: Tue, 27 Jun 2023 06:33:09 -0500 Subject: [PATCH 08/10] Update StepperModes.md --- docs/StepperModes.md | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/docs/StepperModes.md b/docs/StepperModes.md index c6bfba3..bc3f602 100644 --- a/docs/StepperModes.md +++ b/docs/StepperModes.md @@ -1,11 +1,13 @@ # Stepper Motor Modes -A typical stepper motor has two sets of coils, *A* and *B*. Applying a current to one or both coils creates a magnetic field that fixes the motor's position. Any changes to the direction and/or magnitude of the current flowing through the coils causes the motor to "step" to a new fixed position. By repeatedly changing the current flow according to a specific pattern the motor can be made to continuously step clockwise or counterclockwise. The specific pattern chosen determines the size of the step, the direction of rotation, and overall performance of the motor. The speed at which changes to the current flow are made determines the speed at which the motor rotates. +A typical stepper motor has two sets of coils, *A* and *B*. Applying a current to one or both coils creates a magnetic field that fixes the motor's position. Any changes to the direction and/or magnitude of the current flowing through the coils causes the motor to "step" to a new fixed position. By repeatedly changing the current flow according to a specific pattern the motor can be made to continuously step clockwise or counterclockwise. The specific pattern chosen, known as the *step mode* in the **StepperControl** class, determines the size of the step and overall performance of the motor. The speed at which changes to the current flow are made determines the speed at which the motor rotates. -[fullStep2](images/fullStepTwoPhase.png) +**StepperControl** supports two different types of step modes: those that simply set the direction of the current flow to either fully on or off, and those that use PWM to also modulate the magnitude of the current flow. -[fullStep1](images/fullStepOnePhase.png) +![fullStep2](images/fullStepTwoPhase.png) -[halfStep](images/halfStep.png) +![fullStep1](images/fullStepOnePhase.png) -[pwmSteps](images/StepperPWM.png) +![halfStep](images/halfStep.png) + +![pwmSteps](images/StepperPWM.png) From c84bd97b225974ba103cccc7659423da7930688e Mon Sep 17 00:00:00 2001 From: HomeSpan Date: Tue, 27 Jun 2023 06:34:14 -0500 Subject: [PATCH 09/10] Update StepperModes.md --- docs/StepperModes.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/StepperModes.md b/docs/StepperModes.md index bc3f602..4755b2a 100644 --- a/docs/StepperModes.md +++ b/docs/StepperModes.md @@ -2,7 +2,7 @@ A typical stepper motor has two sets of coils, *A* and *B*. Applying a current to one or both coils creates a magnetic field that fixes the motor's position. Any changes to the direction and/or magnitude of the current flowing through the coils causes the motor to "step" to a new fixed position. By repeatedly changing the current flow according to a specific pattern the motor can be made to continuously step clockwise or counterclockwise. The specific pattern chosen, known as the *step mode* in the **StepperControl** class, determines the size of the step and overall performance of the motor. The speed at which changes to the current flow are made determines the speed at which the motor rotates. -**StepperControl** supports two different types of step modes: those that simply set the direction of the current flow to either fully on or off, and those that use PWM to also modulate the magnitude of the current flow. +**StepperControl** supports two different types of step modes: those that simply set the direction of the current flow to either fully on or off, and those that also use PWM to modulate the magnitude of the current flow. ![fullStep2](images/fullStepTwoPhase.png) From caeb94f13236db84f253963b961200a9e95d2b87 Mon Sep 17 00:00:00 2001 From: HomeSpan Date: Tue, 27 Jun 2023 22:04:25 -0500 Subject: [PATCH 10/10] Update StepperModes.md --- docs/StepperModes.md | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/docs/StepperModes.md b/docs/StepperModes.md index 4755b2a..63cfb32 100644 --- a/docs/StepperModes.md +++ b/docs/StepperModes.md @@ -2,12 +2,13 @@ A typical stepper motor has two sets of coils, *A* and *B*. Applying a current to one or both coils creates a magnetic field that fixes the motor's position. Any changes to the direction and/or magnitude of the current flowing through the coils causes the motor to "step" to a new fixed position. By repeatedly changing the current flow according to a specific pattern the motor can be made to continuously step clockwise or counterclockwise. The specific pattern chosen, known as the *step mode* in the **StepperControl** class, determines the size of the step and overall performance of the motor. The speed at which changes to the current flow are made determines the speed at which the motor rotates. -**StepperControl** supports two different types of step modes: those that simply set the direction of the current flow to either fully on or off, and those that also use PWM to modulate the magnitude of the current flow. +**StepperControl** supports two different types of step modes: digital-only modes that simply set the direction of the current flow to either fully on or off, and PWM modes that use a PWM signal to also modulate the magnitude of the current flow. -![fullStep2](images/fullStepTwoPhase.png) -![fullStep1](images/fullStepOnePhase.png) +image
+ +image
+ +image
-![halfStep](images/halfStep.png) - -![pwmSteps](images/StepperPWM.png) +image