stepper module

Description

Manages, drives and tracks the position of a 4 phase stepper motor. Essentially a wrapper for AccelStepper, but so far only supporting 4 phase motors.

Settings

name	type	range	description
accell	integer	> 0	accelleration of the motor in steps/s2
speed	integer	> 0	maximum speed of the motor in steps/s
position	integer	$-$	current position of the motor in steps
minimum	integer	$-$	lower end of the step range, the motor will not go lower than this[1]
maximum	integer	$-$	upper end of the step range, the motor will not go higher than this[1]
initial	integer	$-$	number of steps driven on initialization. Does not respect step range limits. Sets position to minimum if < 0 and to maximum if > 0. No effect if = 0.
infoLED	String	$-$	controlId of a led module. Module will instruct led to indicate if a user made changes[2]
pin[4]	integer	> 0	output pins used to control the stepper motor [3]

1. ↑The only excemption to this is the initialization of the motor, where the limits are ignored. This can be used to drive the motor against a physical barrier for a quick and dirty "calibration"
2. ↑Defaults to an empty String, in which case no attempts to operate the LED will be made.
3. ↑For a 28BYJ-48 stepper one of the following two pin configurations are recommended:

pin#	1st	2nd
1	19	4
2	22	17
3	21	16
4	23	18

Command Keys

key	type	range	description
move	integer	--	drive the specified amount of steps relative from the current position
moveTo	integer	--	drive to the specified position on the step range (absolute position)
binaryCtrl	boolean	--	move minimum of step range if false and to maximum if true
hold	boolean	--	keep motor coils powered after movement if true
identify	integer	> 0	highlight the hardware by its LED[4] for the specified time (in ms)

4. ↑ infoLED must be assigned, otherwise no LED will light up

Status

"controlId":"top",
"status":
{
    "busy":"true",
    "absolute":0,
    "relative":50
}

• busy $-$ boolean, true if the motor is currently moving to a new position
• absolute $-$ integer, current position of the motor in steps
• relative $-$ float, current position of the motor as percentage of the total range

Events

• busy $-$ emitted when the module is starting to move a motor
• ready $-$ emmitted when the target position has been reached