Stepper Motor

Digital

output

Medium RAM

2.4.0

#Description

A stepper motor is a very powerful and precise motor as you can define the position precisely to a step. It is often used in CNC machines like 3D printers.

To use a stepper motor, you should connect a the motor to a driver. Compatible drivers are the A4988 or DRV8825 (or similar). Please refer to our documentation website to see how it is connected. The first pin of the component should be connected to the DIR pin and the second pin of the component should be connected to the STEP pin (unless the "Flip Pins" option is set).

This component requires 2 pins.

#Functions

#Connecting the driver

Here you can see a schematic diagram on how to connect the stepper motor with a DRV8825 driver and an Arduino. (Source Makerguides).

Please refert to Makerguides’s tutorial to see more details on how to connect the DRV8825 driver or the A4988 driver with a stepper and Arduino board.

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#JavaScript / Node.js

@blokdots/components on npm ↗

ClassStepperMotorextends ComponentBase

StepperMotor component for controlling stepper motors via AccelStepper (STEP/DIR driver). Extends ComponentBase directly as a complex output component with custom serial commands.

#Constructor options

Option	Type	Required	Description
pin	number | DigitalPin	required	—
dirPin	number | DigitalPin	required	—
stepsPerRevolution	number	optional	—
flipPins	boolean	optional	—

#Methods

moveTo(absoluteSteps: number)→ this

Move to an absolute position in steps.

move(relativeSteps: number)→ this

Move a relative number of steps from current position.

setSpeed(stepsPerSecond: number)→ this

Set constant speed in steps per second (bypasses acceleration).

setMaxSpeed(stepsPerSecond: number)→ this

Set maximum speed in steps per second.

setAcceleration(stepsPerSecondSquared: number)→ this

Set acceleration in steps per second squared.

setDeceleration(stepsPerSecondSquared: number)→ this

Set deceleration in steps per second squared. When set to a value > 0, the motor uses this rate when slowing down instead of the acceleration rate.

setCurrentPosition(position: number)→ this

Reset the current position counter without moving.

stop()→ this

Decelerate to a stop.

stopNow()→ this

Stop immediately (no deceleration).

get position→ number

Get the current position in steps.

get value→ number | undefinedfrom ComponentBase

Get the current value of the component.

#Example

JavaScript

import { Board, StepperMotor } from "@blokdots/components";

const board = new Board("/dev/ttyACM0");
await board.open();

const stepperMotor = new StepperMotor({ board, pin: "D5", dirPin: "D5" });

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#C++ (Arduino)

ClassStepperMotorextends ComponentBase

Default: DRIVER mode (STEP/DIR). Non-blocking: tick() calls stepper.run().

#Required libraries

• #include <AccelStepper.h> — AccelStepper v1.64.0

#Setup

C++

#include "blokdots.h"

StepperMotor myComponent(5, 5);

#Constructor

StepperMotor(stepPin, dirPin, stepsPerRevolution, enablePin, invertDir, invertStep, enableOutputsOnBegin)

Parameter	Type	Default
stepPin	uint8_t	required
dirPin	uint8_t	required
stepsPerRevolution	int32_t	200
enablePin	int8_t	-1
invertDir	bool	false
invertStep	bool	false
enableOutputsOnBegin	bool	true

StepperMotor(bus, stepPin, dirPin, evtChanged, evtTargetReached, stepsPerRevolution, enablePin, invertDir, invertStep, minEmitIntervalMs, emitPositionStep, enableOutputsOnBegin)

Parameter	Type	Default
bus	EventBus	required
stepPin	uint8_t	required
dirPin	uint8_t	required
evtChanged	uint8_t	required
evtTargetReached	uint8_t	0
stepsPerRevolution	int32_t	200
enablePin	int8_t	-1
invertDir	bool	false
invertStep	bool	false
minEmitIntervalMs	uint16_t	20
emitPositionStep	int32_t	1
enableOutputsOnBegin	bool	true

#Methods

setStepsPerRevolution(steps)→ StepperMotor&

Parameter	Type	Default
steps	int32_t	required

stepsPerRevolution()→ int32_t

setMaxSpeed(stepsPerSecond)→ StepperMotor&

Parameter	Type	Default
stepsPerSecond	float	required

setAcceleration(stepsPerSecond2)→ StepperMotor&

Parameter	Type	Default
stepsPerSecond2	float	required

setDeceleration(stepsPerSecond2)→ StepperMotor&

Parameter	Type	Default
stepsPerSecond2	float	required

setSpeed(stepsPerSecond)→ StepperMotor&

Parameter	Type	Default
stepsPerSecond	float	required

setCurrentPosition(pos)→ StepperMotor&

Parameter	Type	Default
pos	int32_t	required

setEnablePin(pin, enableActiveLow)→ StepperMotor&

Parameter	Type	Default
pin	int8_t	required
enableActiveLow	bool	true

enableOutputs()→ StepperMotor&

disableOutputs()→ StepperMotor&

moveTo(absoluteSteps)→ StepperMotor&

Parameter	Type	Default
absoluteSteps	int32_t	required

move(relativeSteps)→ StepperMotor&

Parameter	Type	Default
relativeSteps	int32_t	required

stop()→ StepperMotor&

stopNow()→ StepperMotor&

moveToRevolutions(revs)→ StepperMotor&

Parameter	Type	Default
revs	float	required

moveRevolutions(revsDelta)→ StepperMotor&

Parameter	Type	Default
revsDelta	float	required

moveToDegrees(degrees)→ StepperMotor&

Parameter	Type	Default
degrees	float	required

moveDegrees(degreesDelta)→ StepperMotor&

Parameter	Type	Default
degreesDelta	float	required

emittedValue()→ int