sq7bti / iAccelStepper

interrupt driven stepper controller inherited from AccelStepper

iAccelStepper

interrupt driven stepper controller inherited from AccelStepper

To use this module inherit from the AccelStepper class, modify it to expose necessary members into public:

• _stepInterval
• _direction
• _currentPos
• _targetPos
• _speed
• _pin[4]

Easiest is to use provided patch https://github.com/sq7bti/iAccelStepper/blob/master/AccelStepper.patch

Within Energia on LM4F target there are only two timers available for free use: Timer1 and Timer2

• // SYSCTL_PERIPH_TIMER0, // wiring_analog.c analogWrite()
• SYSCTL_PERIPH_TIMER1,
• SYSCTL_PERIPH_TIMER2,
• SYSCTL_PERIPH_TIMER3
• // SYSCTL_PERIPH_TIMER4, // Tone.c
• // SYSCTL_PERIPH_TIMER5, // wiring.c - millis() micros()
• // SYSCTL_PERIPH_TIMER6,
• // SYSCTL_PERIPH_TIMER7

To sum up, both the original AccelStepper and iAccelStepper library should be located in your library folder, not necessarily in a common folder: ${ENERGIA_PROJECT}/sketches ${ENERGIA_PROJECT}/libraries/AccelStepper/AccelStepper.cpp ${ENERGIA_PROJECT}/libraries/AccelStepper/AccelStepper.h ${ENERGIA_PROJECT}/libraries/iAccelStepper/iAccelStepper.cpp ${ENERGIA_PROJECT}/libraries/iAccelStepper/iAccelStepper.h

In the main ino file one need to include both header files:

#include "AccelStepper.h"
#include "iAccelStepper.h"

Instantiation of object boils down to an empty declaration:

iAccelStepper axis1;
iAccelStepper axis2;

setup() should contain initialisation call:

axis1.begin(PB_0, PB_5);
axis2.begin(PE_4, PB_1);

To perform a movement, the usual methods of the original AccelStepper should be used, such as move(), moveTo() and stop(). The difference is iAccelStepper DO_NOT_REQUIRE call run() method. See example for more.