Note: This legacy version is deprecated as of Firmata protocol v2.6.0 and therefore is not recommended for new implementations. Please use the new, more full-featured AccelStepper version instead.
Provides support for 4 wire and 2 wire stepper motor drivers (H-bridge, darlington array, etc) as well as step + direction drivers such as the EasyDriver. Current implementation supports 6 stepper motors at the same time (#[0-5]).
Also includes optional support for acceleration and deceleration of the motor.
Added in Firmata protocol version 2.4.0. Deprecated in Firmata protocol version 2.6.0.
Example files:
- The Stepper feature is include by default in ConfigurableFirmata.ino.
- Example implementation as a configurable Firmata feature class.
- Example of Stepper implementation in StandardFirmata. Note the dependency on the FirmataStepper class.
Stepper configuration
Note: stepDelay is the the number of microseconds between steps. The default
value is 1us. You can change the delay to 2us (useful for high current stepper
motor drivers). Additional delay values can be added in the future.
0 START_SYSEX (0xF0)
1 Stepper Command (0x72)
2 config command (0x00 = config, 0x01 = step)
3 device number (0-5) (supports up to 6 motors)
4 stepDelay | interface (upper 4 bits = step delay:
0000XXX = default 1us delay [default]
0001XXX = 2us delay
additional bits not yet used)
(lower 3 bits = interface:
XXXX001 = step + direction driver
XXXX010 = two wire
XXXX100 = four wire)
5 steps-per-revolution LSB
6 steps-per-revolution MSB
7 motorPin1 or directionPin number (0-127)
8 motorPin2 or stepPin number (0-127)
9 [only when interface = 0x04] motorPin3 (0-127)
10 [only when interface = 0x04] motorPin4 (0-127)
11 END_SYSEX (0xF7)
Stepper step
0 START_SYSEX (0xF0)
1 Stepper Command (0x72)
2 config command (0x01)
3 device number (0-5)
4 direction (0-1) (0x00 = CW, 0x01 = CCW)
5 num steps byte1 LSB
6 num steps byte2
7 num steps byte3 MSB (21 bits (2,097,151 steps max))
8 speed LSB (steps in 0.01*rad/sec (2050 = 20.50 rad/sec))
9 speed MSB
10 [optional] accel LSB (acceleration in 0.01*rad/sec^2 (1000 = 10.0 rad/sec^2))
11 [optional] accel MSB
12 [optional] decel LSB (deceleration in 0.01*rad/sec^2)
13 [optional] decel MSB
14 END_SYSEX (0xF7)