stepper - Documentation

Stepper Controller Object

Source:

stepper.js , lineno 792

See:

Use Stepper() for object creation.
Use module:MotorHat/Stepper~stepper#init for object initialization.

Methods

init(cbopt) → {module:MotorHat/Stepper~stepper}

Initialize the Stepeper controller instance.

Parameters:

Name	Type	Attributes	Description
`cb`	callback	<optional>	Optional node style callback for asynch initialization

Source:

stepper.js , lineno 770

Returns:

Returns init'd Stepper controller object (self),
either directly or in second parameter to callback if callback provided, to enable chaining.

Type: module:MotorHat/Stepper~stepper

oneStep(dir, cb)

Perform one step asynchronously.
Configuration as stepping style, speed, etc should have been set previously.

Parameters:

Name	Type	Description
`dir`	'fwd' \| 'back'	Direction of movement
`cb`	callback	Node style callback. cb(err, result).

Source:

stepper.js , lineno 577

oneStepSync(dir)

Perform one step asynchronously.
Configuration as stepping style, speed, etc should have been set previously.

Parameters:

Name	Type	Description
`dir`	'fwd' \| 'back'	Direction of movement

Source:

stepper.js , lineno 597

release(cb)

Release the stepper motor asynchronously.

Stops applying current to the motor coils.

Parameters:

Name	Type	Description
`cb`	Callback	Node style callback

Source:

stepper.js , lineno 723

releaseSync()

Release the stepper motor synchronously.
Stops applying current to the motor coils.

Source:

stepper.js , lineno 738

setCurrent(current)

Set the current rate at which to supply the steps.
Provide a number from 0 to 1 and the current will be reduced proportionally

Parameters:

Name	Type	Description
`current`	Number	Current rate, from 0 to 1.

Source:

stepper.js , lineno 754

setFrequency(freq, cb)

Set PWM Controller working frequency asynchronously.

Parameters:

Name	Type	Description
`freq`	Number	PWM frequency.
`cb`	callback	Node style callback. cb(err, result).

Source:

stepper.js , lineno 506

setFrequencySync(freq)

Set PWM Controller working frequency synchronously.

Parameters:

Name	Type	Description
`freq`	Number	PWM frequency.

Source:

stepper.js , lineno 521

setMicrosteps(ms)

Set desired number of microsteps per step.
(Used for microstepping)

Parameters:

Name	Type	Description
`ms`	8 \| 16	Microsteps per step

Source:

stepper.js , lineno 535

setSpeed(speed)

Set motor speed for step().

Parameters:

Name Type Description

speed

Object

Properties

Name	Type	Attributes	Description
`sps`	Number	<optional>	Speed in steps per second.
`pps`	Number	<optional>	Speed in pulses per second (pulses can be steps, microsteps, etc)
`rpm`	Number	<optional>	Speed in revolutions per minute.

Source:

stepper.js , lineno 453

setSteps(steps)

Set number of steps per revolution for motor.

Parameters:

Name	Type	Description
`steps`	Number	Number of steps per revolution for stepper motor.

Source:

stepper.js , lineno 557

setStyle(style)

Set stepping style.

Parameters:

Name	Type	Description
`style`	'single' \| 'double' \| 'interleaved' \| 'microstep'	Stepping style.

Source:

stepper.js , lineno 489

step(dir, steps, cb) → {module:MotorHat/Stepper~stepper.StepResult}

Perform arbitrary number of steps asynchronously.
Configuration as stepping style, speed, etc should have been set previously.

Parameters:

Name	Type	Description
`dir`	'fwd' \| 'back'	Direction of movement
`steps`	Number	Number of steps.
`cb`	callback	Node style callback. cb(err, result).

Source:

stepper.js , lineno 630

Returns:

result The result of the action.

Type: module:MotorHat/Stepper~stepper.StepResult

stepSync(dir, steps) → {module:MotorHat/Stepper~stepper.StepSyncResult}

Perform arbitrary number of steps synchronously.
Configuration as stepping style, speed, etc should have been set previously.

Parameters:

Name	Type	Description
`dir`	'fwd' \| 'back'	Direction of movement
`steps`	Number	Number of steps.

Source:

stepper.js , lineno 687

Returns:

result The result of the action.

Type: module:MotorHat/Stepper~stepper.StepSyncResult

Type Definitions

StepResult

Type:

Object

Properties:

Name	Type	Description
`StepResult.steps`	Number	Performed steps
`StepResult.dir`	String	Direction of steps performed
`StepResult.duration`	Number	Time in ms taken to perform the steps
`StepResult.retried`	Number	Number of steps retried.

Source:

stepper.js , lineno 609

StepSyncResult

Type:

Object

Properties:

Name	Type	Description
`StepResult.steps`	Number	Performed steps
`StepResult.dir`	String	Direction of steps performed
`StepResult.duration`	Number	Time in ms taken to perform the steps

Source:

stepper.js , lineno 668