Stepper Commands
stepper_get_current_position
def stepper_get_current_position(self, motor_id, current_position_callback)
Request the current motor position from the server.
:param motor_id: 0 - 7
:param current_position_callback: required callback function to receive report
:return: The current motor position returned via the callback as a list:
[REPORT_TYPE=17, motor_id, current position in steps, time_stamp]
Positive is clockwise from the 0 position.
Examples:
- telemetrix: stepper_set_and_get.py
stepper_get_distance_to_go
def stepper_get_distance_to_go(self, motor_id, distance_to_go_callback)
Request the distance from the current position to the target
position from the server.
:param motor_id: 0 - 7
:param distance_to_go_callback: required callback function
to receive report
:return: The distance to go is returned via the callback as a list:
[REPORT_TYPE=15, motor_id, distance in steps, time_stamp]
A positive distance is clockwise from the current position.
Examples:
- telemetrix: stepper_set_and_get.py
stepper_get_target_position
def stepper_get_target_position(self, motor_id, target_callback)
Request the most recently set target position from the server.
:param motor_id: 0 - 7
:param target_callback: required callback function to receive report
:return: The distance to go is returned via the callback as a list:
[REPORT_TYPE=16, motor_id, target position in steps, time_stamp]
Positive is clockwise from the 0 position.
Examples:
- telemetrix: stepper_set_and_get.py
stepper_is_running
def stepper_is_running(self, motor_id, callback)
Checks to see if the motor is currently running to a target.
Callback returns True if the speed is not zero or not at the target position.
:param motor_id: 0-4
:param callback: required callback function to receive report
:return: The current running state returned via the callback as a list:
[REPORT_TYPE=18, motor_id, True or False for running state, time_stamp]
Examples:
- telemetrix: stepper_absolute.py
- telemetrix-aio : stepper_absolute.py
stepper_move
def stepper_move(self, motor_id, relative_position)
Set the target position relative to the current position.
:param motor_id: motor id: 0 - 7
:param relative_position: The desired position relative to the
current position.
Negative is anticlockwise from the
current position.
Maximum value is 32 bits.
Examples:
- telemetrix: stepper_relative.py
- telemetrix-aio : stepper_relative.py
stepper_move_to
def stepper_move_to(self, motor_id, position)
Set an absolution target position. If position is positive, the movement is
clockwise, else it is counter-clockwise.
The run() function (below) will try to move the motor
(at most one step per call) from the current position to the target
position set by the most recent call to this function.
Caution: moveTo() also recalculates the speed for the next step.
If you are trying to use constant speed movements, you should
call setSpeed() after calling moveTo().
:param motor_id: motor id: 0 - 7
:param position: target position. Maximum value is 32 bits.
Examples:
- telemetrix: stepper_run_speed_to_position.py
stepper_run
def stepper_run(self, motor_id, completion_callback=None)
This method steps the selected motor based on the current speed.
Once called, the server will continuously attempt to step the motor.
:param motor_id: 0 - 7
:param completion_callback: call back function to receive
motion complete notification
callback returns a data list:
[report_type, motor_id, raw_time_stamp]
The report_type = 19
Examples:
- telemetrix: stepper_absolute.py
- telemetrix-aio : stepper_absolute.py
stepper_run_speed
def stepper_run_speed(self, motor_id)
This method steps the selected motor based at a constant speed as
set by the most recent call to stepper_set_max_speed().
The motor will run continuously.
Once called, the server will continuously attempt to step the motor.
:param motor_id: 0 - 7
Examples:
- telemetrix: stepper_continuous.py
- telemetrix-aio : stepper_continuous.py
stepper_run_speed_to_position
def stepper_run_speed_to_position(self, motor_id, completion_callback=None)
Runs the motor at the currently selected speed until the target
position is reached.
Does not implement accelerations.
:param motor_id: 0 - 7
:param completion_callback: call back function to receive motion
complete notification
callback returns a data list:
[report_type, motor_id, raw_time_stamp]
The report_type = 19
Examples:
- telemetrix: stepper_run_speed_to_position.py
stepper_set_acceleration
def stepper_set_acceleration(self, motor_id, acceleration)
Sets the acceleration/deceleration rate.
:param motor_id: 0 - 7
:param acceleration: The desired acceleration in steps per
second per second.
Must be > 0.0. This is an expensive call since it
requires a square root to be calculated on the server.
Dont call more often than needed.
Examples:
- telemetrix: stepper_absolute.py
- telemetrix-aio : stepper_absolute.py
stepper_set_current_position
def stepper_set_current_position(self, motor_id, position)
Resets the current position of the motor, so that wherever the motor happens
to be right now is considered to be the new 0 position.
Useful for setting a zero position on a stepper after an
initial hardware positioning move.
Has the side effect of setting the current motor speed to 0.
:param motor_id: 0 - 7
:param position: Position in steps. This is a 32 bit value
Examples:
- telemetrix: stepper_set_and_get.py
stepper_set_max_speed
def stepper_set_max_speed(self, motor_id, max_speed)
Sets the maximum permitted speed. The stepper_run() function will
accelerate up to the speed set by this function.
Caution: the maximum speed achievable depends on your processor
and clock speed. The default maxSpeed is 1 step per second.
Caution: Speeds that exceed the maximum speed supported by the
processor may result in non-linear accelerations and decelerations.
:param motor_id: 0 - 7
:param max_speed: 1 - 1000
Examples:
- telemetrix: stepper_absolute.py
- telemetrix-aio : stepper_absolute.py
stepper_set_speed
def stepper_set_speed(self, motor_id, speed)
Sets the desired constant speed for use with stepper_run_speed().
:param motor_id: 0 - 7
:param speed: 0 - 1000 The desired constant speed in steps
per second.
Positive is clockwise. Speeds of more than 1000 steps
per second are unreliable. Speed accuracy depends on
the Arduino crystal.
Jitter depends on how frequently you call the
stepper_run_speed() method. The speed will be
limited by the current value of stepper_set_max_speed().
Examples:
- telemetrix: stepper_run_speed_to_position.py
Additional Methods
The following methods are included for AccelStepper compatibility. No examples are provided for these methods.
stepper_disable_outputs
def stepper_disable_outputs(self, motor_id)
Disable motor pin outputs by setting them all LOW.
Depending on the design of your electronics this may turn off the power
to the motor coils, saving power.
This is useful to support Arduino low power modes:
disable the outputs during sleep and then re-enable with enableOutputs()
before stepping again.
If the enable Pin is defined, sets it to OUTPUT mode and clears
the pin to disabled.
:param motor_id: 0 - 7
stepper_enable_outputs
def stepper_enable_outputs(self, motor_id)
Enable motor pin outputs by setting the motor pins to OUTPUT mode.
If the enable Pin is defined, sets it to OUTPUT mode and sets
the pin to enabled.
:param motor_id: 0 - 7
stepper_get_max_speed
def stepper_get_max_speed(self, motor_id)
Returns the maximum speed configured for this stepper that was
previously set by stepper_set_max_speed()
Value is stored in the client, so no callback is required.
:param motor_id: 0 - 7
:return: The currently configured maximum speed.
stepper_get_speed
def stepper_get_speed(self, motor_id)
Returns the most recently set speed. that was previously set
by stepper_set_speed();
Value is stored in the client, so no callback is required.
:param motor_id: 0 - 7
stepper_set_3_pins_inverted
def stepper_set_3_pins_inverted(self, motor_id, direction=False,
step=False, enable=False)
Sets the inversion for stepper driver pins.
:param motor_id: 0 - 7
:param direction: True=inverted or False
:param step: True=inverted or False
:param enable: True=inverted or False
stepper_set_4_pins_inverted
def stepper_set_4_pins_inverted(self, motor_id, pin1_invert=False,
pin2_invert=False, pin3_invert=False,
pin4_invert=False, enable=False)
Sets the inversion for 2, 3 and 4 wire stepper pins
:param motor_id: 0 - 7
:param pin1_invert: True=inverted or False
:param pin2_invert: True=inverted or False
:param pin3_invert: True=inverted or False
:param pin4_invert: True=inverted or False
:param enable: True=inverted or False
stepper_set_enable_pin
def stepper_set_enable_pin(self, motor_id, pin=255)
Sets the enable pin number for stepper drivers.
0xFF indicates unused (default).
Otherwise, if a pin is set, the pin will be turned on when
enableOutputs() is called and switched off when disableOutputs() is called.
:param motor_id: 0 - 7
:param pin: 0-0xff
stepper_set_min_pulse_width
def stepper_set_min_pulse_width(self, motor_id, minimum_width)
Sets the minimum pulse width allowed by the stepper driver.
The minimum practical pulse width is approximately 20 microseconds.
Times less than 20 microseconds will usually result in 20 microseconds or so.
:param motor_id: 0 -7
:param minimum_width: A 16 bit unsigned value expressed in microseconds.
stepper_stop
def stepper_stop(self, motor_id)
Sets a new target position that causes the stepper to stop as quickly as
possible, using the current speed and acceleration parameters.
:param motor_id: 0 - 7