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HomeSpan/docs/StepperDrivers/Stepper_UNIPOLAR.md

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Stepper_UNIPOLAR

This class provides a generic driver for use with any center-tapped unipolar stepper motor. Requires the use of a driver board that can convert the low-voltage/low-current digital signals from 4 pins on the ESP32 to higher-voltage/higher-current outputs suitable for direct connection to the two phases (A and B) of each coil (1 and 2) in the stepper motor.

The Stepper_UNIPOLAR class includes the following constructors:

  • Stepper_UNIPOLAR(int coil1A, int coil1B, int coil2A, int coil2B)

    • controls the driver board using 4 digital pins from the ESP32, where the parameters specify the pin numbers

    • the driver circuit should be connected and configured such that when any of ESP32 pins specified above are set to are HIGH, current flows through the corresponding coil/phase. Similarly, when a pin is set LOW, the driver circuit should stop the flow of current through the corresponding coil/phase.

    • supported modes are as follows:

      • FULL_STEP_ONE_PHASE
      • FULL_STEP_TWO_PHASE
      • HALF_STEP

❗Note: This class does not support a short brake state. Calls to the brake() method, as well as setting the endAction parameter in the move() and moveTo() methods to StepperControl::BRAKE have no effect on the motor driver.

↩️ Back to the Stepper Motor Control page