/**
* \par Function
* runSpeedAndTime
* \par Description
* The speed and time of Motor's movement.
* \param[in]
* speed - The speed move of Motor.
* \param[in]
* time - The time move of Motor.
* \param[in]
* lock_state - The lock state of Motor.
* \par Output
* None
* \par Return
* None
* \par Others
* None
*/
void MeEncoderNew::runSpeedAndTime(float speed, float time, float lock_state)
{
if(_lastTime == 0)
{
_lastTime = millis();
runSpeed(speed,lock_state);
}
if(millis() - _lastTime > (1000 * time))
{
_lastTime = 0;
runSpeed(0,lock_state);
}
}
void MeEncoderNew::runSpeedAndTime(int speed, float time)
{
if(_lastTime == 0)
{
_lastTime = millis();
runSpeed(speed);
}
if(millis() - _lastTime > time)
{
_lastTime = 0;
runSpeed(0);
}
}
boolean AccelStepper::runSpeedToPosition()
{
if (_targetPos >_currentPos)
_speed = fabs(_speed);
else
_speed = -fabs(_speed);
return _targetPos!=_currentPos ? runSpeed() : false;
}
boolean MeStepper::run()
{
if (_targetPos == _currentPos)
return false;
if (runSpeed())
computeNewSpeed();
return true;
}
boolean AccelStepper::runSpeedToPosition()
{
if (_targetPos == _currentPos)
return false;
if (_targetPos >_currentPos)
_direction = DIRECTION_CW;
else
_direction = DIRECTION_CCW;
return runSpeed();
}
uint8_t runSpeedToPosition(Stepper_t* motor)
{
if (motor->_targetPos == motor->_currentPos)
return 0; // false
if (motor->_targetPos > motor->_currentPos)
motor->_direction = DIRECTION_CW;
else
motor->_direction = DIRECTION_CCW;
return runSpeed(motor);
}
/**
* \par Function
* run
* \par Description
* Stepper's status----run or not.
* \param[in]
* None
* \par Output
* None
* \par Return
* Return the status.
* \par Others
* None
*/
boolean MeStepper::run()
{
if((_speed == 0.0) || (distanceToGo() == 0))
{
return false;
}
if (runSpeed())
{
computeNewSpeed();
return true;
}
}
/**
* \par Function
* runSpeedToPosition
* \par Description
* The speed of Stepper on the way to position.
* \param[in]
* None
* \par Output
* None
* \par Return
* Return true or false.
* \par Others
* None
*/
boolean MeStepper::runSpeedToPosition()
{
if (_targetPos == _currentPos)
{
return false;
}
if (_targetPos >_currentPos)
{
_dir = DIRECTION_CW;
}
else
{
_dir = DIRECTION_CCW;
}
return runSpeed();
}
/**
* \par Function
* update
* \par Description
* The Stepper loop function, used to move the stepper.
* \param[in]
* None
* \par Output
* None
* \par Return
* None
* \par Others
* None
*/
void MeStepperOnBoard::update(void)
{
if(_mode == 0)
{
runSpeed();
}
else
{
long dist = distanceToGo();
if(dist==0)
{
if(_moving)
{
_moving = false;
_callback(_slot, _extId);
}
}
runSpeedToPosition();
}
}
// Run the motor to implement speed and acceleration in order to proceed to the target position
// You must call this at least once per step, preferably in your main loop
// If the motor is in the desired position, the cost is very small
// returns true if the motor is still running to the target position.
boolean AccelStepper::run()
{
if (runSpeed())
computeNewSpeed();
return _speed != 0.0 || distanceToGo() != 0;
}
// Run the motor to implement speed and acceleration in order to proceed to the target position
// You must call this at least once per step, preferably in your main loop
// If the motor is in the desired position, the cost is very small
// returns true if the motor is still running to the target position.
uint8_t run(Stepper_t* motor)
{
if (runSpeed(motor)) computeNewSpeed(motor);
return motor->_speed != 0.0 || distanceToGo(motor) != 0;
}
// Run the motor to implement speed and acceleration in order to proceed to the target position
// You must call this at least once per step, preferably in your main loop
// If the motor is in the desired position, the cost is very small
// returns true if we are still running to position
bool AccelStepper::run()
{
if (runSpeed())
computeNewSpeed();
return true;
}
boolean AccelStepper::runSpeedToPosition()
{
return _targetPos!=_currentPos ? runSpeed() : false;
}
// Run the motor to implement speed and acceleration in order to proceed to the target position
// You must call this at least once per step, preferably in your main loop
// If the motor is in the desired position, the cost is very small
// returns true if the motor is still running to the target position.
boolean AccelStepper::run()
{
if (runSpeed())
computeNewSpeed();
return ((_speed != 0.0) || (distanceToGo() != 0));
}
