STEPPER module

About this

This module contains functions for controlling stepper motors.

Please, take in advance that you need a stepper motor driver for connect the motor to your board. Stepper motors works at voltages and currents that are not compatible with your board. Never connect a stepper motor to the board without a stepper motor driver, or your board will be permanently damage.

Stepper module can handle up to 8 motors, each motor needs 2 GPIO, for control the step and direction signals.

Key concepts

In real applications, steppers are connected to a kinematic system. Before using an stepper you must attach the stepper (using the attach function) and set the variables defined by your kinematic system:

• 1. Units, for example 1 cm
• 1. Number of steps per unit
• 1. Minimum speed, measured in units / minutes
• 1. Maximum speed, measured in units / minutes

Once attached, the programmer can move the steppers specifying:

• 1. How many units to move, for example 10 centimeter.
• 1. At which speed, for example, 5 centimeter / minute.
• 1. At which acceleration, for example, 0.1 centimeters / seconds ^ 2