prepared for release of v1.3.0

Examples/LimitDetection/limitDetection.ino

@@ -16,62 +16,15 @@ void setup() {
   Serial.begin(115200);
 }
 
-float limit()
-{
-  int checks=0;
-  float pos=0.0;
-  stepper.runContinous(CCW);
-  while(checks < 3)//allows for 2 checks on movement error
-  {
-   pos = abs(stepper.encoder.getAngleMoved()-(stepper.getStepsSinceReset()*0.1125));//see current position error
-   if(pos<5)//if position error is less than 5 steps it is okay...
-    {
-      checks=0;
-    }
-    else //if position error is 5 steps or more, count up checks
-    {
-      checks++;
-    }
-  }  
-  checks=0;//reset checks for next endstop detection
-  stepper.hardStop(SOFT);//stop motor without brake
-  stepper.moveSteps(5*STEPPRMM, CW, SOFT);//back off with 5 mm
-  while(stepper.getMotorState())//wait for motor to finish move
-  {
-    delay(1);//because Arduino does not accept the empty while loop for some reason....
-  }
-  stepper.encoder.setHome();//set new home position
-  stepper.runContinous(CW);//do check in opposite direction
-  while(checks < 3)//allows for 2 checks on movement error
-  {
-   pos = abs(stepper.encoder.getAngleMoved()-(stepper.getStepsSinceReset()*0.1125));//see current position error
-   if(pos<5)//if position error is less than 5 steps it is okay...
-    {
-      checks=0;
-    }
-    else //if position error is 5 steps or more, count up checks
-    {
-      checks++;
-    }
-  }  
-  stepper.hardStop(SOFT);//stop
-  stepper.moveSteps(5*STEPPRMM, CCW, SOFT);//back off with 5 mm
-  while(stepper.getMotorState())//wait for motor to finish move
-  {
-    delay(1);//because Arduino does not accept the empty while loop for some reason....
-  }
-  pos = stepper.encoder.getAngleMoved();//read current position
-  stepper.moveSteps((pos*RES)/2, CCW, SOFT);//go to center
-  while(stepper.getMotorState())//wait for motor to finish move
-  {
-    delay(1);//because Arduino does not accept the empty while loop for some reason....
-  }
-  return pos;//return max position
-}
-
 void loop() {
-  Serial.println(limit()*MMPRDEG);//find end positions and read out the recorded end position
+  float railLength;
+
+  stepper.moveToEnd(CW);      //Reset to CW endpoint
+  railLength = stepper.moveToEnd(CCW);    //Go to CCW end
+
+  Serial.println(railLength*MMPRDEG);//find end positions and read out the recorded end position
   stepper.setup(PID,SIXTEEN,10,5,2.0,2.0,0.6);//enable PID
   stepper.setCurrent(100.0);//use software current setting
+  stepper.moveSteps((pos*RES)/2, CW, SOFT); //Move to center
   while(1);
 }

docs/html/annotated.html

@@ -75,7 +75,7 @@
 </div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated on Thu Jul 27 2017 20:08:30 for uStepper by &#160;<a href="http://www.doxygen.org/index.html">
+Generated on Wed Jan 10 2018 20:22:00 for uStepper by &#160;<a href="http://www.doxygen.org/index.html">
 <img class="footer" src="doxygen.png" alt="doxygen"/>
 </a> 1.8.13
 </small></address>

docs/html/classes.html

@@ -76,7 +76,7 @@
 </div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated on Thu Jul 27 2017 20:08:30 for uStepper by &#160;<a href="http://www.doxygen.org/index.html">
+Generated on Wed Jan 10 2018 20:22:00 for uStepper by &#160;<a href="http://www.doxygen.org/index.html">
 <img class="footer" src="doxygen.png" alt="doxygen"/>
 </a> 1.8.13
 </small></address>

docs/html/classfloat2-members.html

@@ -92,7 +92,7 @@
 </table></div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated on Thu Jul 27 2017 20:08:30 for uStepper by &#160;<a href="http://www.doxygen.org/index.html">
+Generated on Wed Jan 10 2018 20:22:00 for uStepper by &#160;<a href="http://www.doxygen.org/index.html">
 <img class="footer" src="doxygen.png" alt="doxygen"/>
 </a> 1.8.13
 </small></address>

docs/html/classfloat2.html

@@ -148,7 +148,7 @@
 </table>
 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
 <div class="textblock">
-<p class="definition">Definition at line <a class="el" href="uStepper_8h_source.html#l00358">358</a> of file <a class="el" href="uStepper_8h_source.html">uStepper.h</a>.</p>
+<p class="definition">Definition at line <a class="el" href="uStepper_8h_source.html#l00365">365</a> of file <a class="el" href="uStepper_8h_source.html">uStepper.h</a>.</p>
 </div><h2 class="groupheader">Friends And Related Function Documentation</h2>
 <a id="abbafa3bc17b23bf531c6feba4ee0778d"></a>
 <h2 class="memtitle"><span class="permalink"><a href="#abbafa3bc17b23bf531c6feba4ee0778d">&#9670;&nbsp;</a></span>TIMER2_COMPA_vect</h2>
@@ -188,7 +188,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#abbafa3bc17b23bf531c6feba
 </div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated on Thu Jul 27 2017 20:08:30 for uStepper by &#160;<a href="http://www.doxygen.org/index.html">
+Generated on Wed Jan 10 2018 20:22:00 for uStepper by &#160;<a href="http://www.doxygen.org/index.html">
 <img class="footer" src="doxygen.png" alt="doxygen"/>
 </a> 1.8.13
 </small></address>

docs/html/classi2cMaster-members.html

@@ -80,7 +80,7 @@
 </table></div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated on Thu Jul 27 2017 20:08:30 for uStepper by &#160;<a href="http://www.doxygen.org/index.html">
+Generated on Wed Jan 10 2018 20:22:00 for uStepper by &#160;<a href="http://www.doxygen.org/index.html">
 <img class="footer" src="doxygen.png" alt="doxygen"/>
 </a> 1.8.13
 </small></address>

docs/html/classi2cMaster.html

@@ -122,7 +122,7 @@
 <p>This class enables the use of the hardware TWI (I2C) interface in the AVR (master mode only), which is used for interfacing with the encoder. This class is needed in this library, as arduino's build in "wire" library uses interrupts to access the TWI interface, and since the <a class="el" href="classuStepper.html" title="Prototype of class for accessing all features of the uStepper in a single object. ...">uStepper</a> library needs to use the TWI interface within a timer interrupt, this library cannot be used. As a result of this, the "wire" library, cannot be used in sketches using the <a class="el" href="classuStepper.html" title="Prototype of class for accessing all features of the uStepper in a single object. ...">uStepper</a> library, as this will screw with the setups, and make the sketch hang in the timer interrupt routine. Instead, if the programmer of the sketch needs to interface with external I2C devices, this class should be used. This library contains a predefined object called "I2C", which should be used for these purposes.</p>
 <p>The functions "read()" and "write()", should be the only functions needed by most users of this library ! </p>
 
-<p class="definition">Definition at line <a class="el" href="uStepper_8h_source.html#l01174">1174</a> of file <a class="el" href="uStepper_8h_source.html">uStepper.h</a>.</p>
+<p class="definition">Definition at line <a class="el" href="uStepper_8h_source.html#l01210">1210</a> of file <a class="el" href="uStepper_8h_source.html">uStepper.h</a>.</p>
 </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
 <a id="a2d4c2077400ec94c157916804e9fdaae"></a>
 <h2 class="memtitle"><span class="permalink"><a href="#a2d4c2077400ec94c157916804e9fdaae">&#9670;&nbsp;</a></span>i2cMaster()</h2>
@@ -143,7 +143,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a2d4c2077400ec94c15791680
 <p>Constructor. </p>
 <p>This is the constructor, used to instantiate an I2C object. Under normal circumstances, this should not be needed by the programmer of the arduino sketch, since this library already has a global object instantiation of this class, called "I2C". </p>
 
-<p class="definition">Definition at line <a class="el" href="uStepper_8cpp_source.html#l01946">1946</a> of file <a class="el" href="uStepper_8cpp_source.html">uStepper.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="uStepper_8cpp_source.html#l02113">2113</a> of file <a class="el" href="uStepper_8cpp_source.html">uStepper.cpp</a>.</p>
 
 </div>
 </div>
@@ -167,7 +167,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#af639b1fb501c7530afdca5e8
 <p>Setup TWI (I2C) interface. </p>
 <p>This function sets up the TWI interface, and is automatically called in the instantiation of the <a class="el" href="classuStepper.html" title="Prototype of class for accessing all features of the uStepper in a single object. ...">uStepper</a> encoder object. </p>
 
-<p class="definition">Definition at line <a class="el" href="uStepper_8cpp_source.html#l01938">1938</a> of file <a class="el" href="uStepper_8cpp_source.html">uStepper.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="uStepper_8cpp_source.html#l02105">2105</a> of file <a class="el" href="uStepper_8cpp_source.html">uStepper.cpp</a>.</p>
 
 </div>
 </div>
@@ -204,7 +204,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a57b0b97be6a40d9a26a9f3e1
   </dd>
 </dl>
 
-<p class="definition">Definition at line <a class="el" href="uStepper_8cpp_source.html#l01755">1755</a> of file <a class="el" href="uStepper_8cpp_source.html">uStepper.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="uStepper_8cpp_source.html#l01922">1922</a> of file <a class="el" href="uStepper_8cpp_source.html">uStepper.cpp</a>.</p>
 
 </div>
 </div>
@@ -228,7 +228,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a20091cd125f847e2cf50d0c7
 <p>This function returns the status of the I2C bus.</p>
 <dl class="section return"><dt>Returns</dt><dd>Status of the I2C bus. Refer to defines for possible status </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="uStepper_8cpp_source.html#l01933">1933</a> of file <a class="el" href="uStepper_8cpp_source.html">uStepper.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="uStepper_8cpp_source.html#l02100">2100</a> of file <a class="el" href="uStepper_8cpp_source.html">uStepper.cpp</a>.</p>
 
 </div>
 </div>
@@ -283,7 +283,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a9d56b4ea47659456f19cff59
 </dl>
 <dl class="section return"><dt>Returns</dt><dd>1 - Currently always returns this value. In the future this value will be used to indicate successful transactions. </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="uStepper_8cpp_source.html#l01776">1776</a> of file <a class="el" href="uStepper_8cpp_source.html">uStepper.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="uStepper_8cpp_source.html#l01943">1943</a> of file <a class="el" href="uStepper_8cpp_source.html">uStepper.cpp</a>.</p>
 
 </div>
 </div>
@@ -324,7 +324,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a631086e66e032c001da7ba74
 </dl>
 <dl class="section return"><dt>Returns</dt><dd>Always returns 1 </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="uStepper_8cpp_source.html#l01855">1855</a> of file <a class="el" href="uStepper_8cpp_source.html">uStepper.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="uStepper_8cpp_source.html#l02022">2022</a> of file <a class="el" href="uStepper_8cpp_source.html">uStepper.cpp</a>.</p>
 
 </div>
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@@ -367,7 +367,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a67daea3016661f33cdf8621d
 <dd>
 0 - Connection failed </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="uStepper_8cpp_source.html#l01905">1905</a> of file <a class="el" href="uStepper_8cpp_source.html">uStepper.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="uStepper_8cpp_source.html#l02072">2072</a> of file <a class="el" href="uStepper_8cpp_source.html">uStepper.cpp</a>.</p>
 
 </div>
 </div>
@@ -410,7 +410,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a1f220aa9d4c43c6b6ff53395
 <dd>
 0 - Connection failed </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="uStepper_8cpp_source.html#l01879">1879</a> of file <a class="el" href="uStepper_8cpp_source.html">uStepper.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="uStepper_8cpp_source.html#l02046">2046</a> of file <a class="el" href="uStepper_8cpp_source.html">uStepper.cpp</a>.</p>
 
 </div>
 </div>
@@ -434,7 +434,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#aa3b88864e9b2b6a864c48721
 <p>This function is used to close down the I2C connection, by sending a stop condition on the I2C bus.</p>
 <dl class="section return"><dt>Returns</dt><dd>1 - This is always returned Currently - in a later version, this should indicate that connection is successfully closed </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="uStepper_8cpp_source.html#l01919">1919</a> of file <a class="el" href="uStepper_8cpp_source.html">uStepper.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="uStepper_8cpp_source.html#l02086">2086</a> of file <a class="el" href="uStepper_8cpp_source.html">uStepper.cpp</a>.</p>
 
 </div>
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@@ -489,7 +489,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#aebbb2715d84f89ea2d7b66d3
 </dl>
 <dl class="section return"><dt>Returns</dt><dd>1 - Currently always returns this value. In the future this value will be used to indicate successful transactions. </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="uStepper_8cpp_source.html#l01822">1822</a> of file <a class="el" href="uStepper_8cpp_source.html">uStepper.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="uStepper_8cpp_source.html#l01989">1989</a> of file <a class="el" href="uStepper_8cpp_source.html">uStepper.cpp</a>.</p>
 
 </div>
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@@ -521,7 +521,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#aff82a2330291c2940f41e8fd
 <dd>
 0 - transaction failed </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="uStepper_8cpp_source.html#l01910">1910</a> of file <a class="el" href="uStepper_8cpp_source.html">uStepper.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="uStepper_8cpp_source.html#l02077">2077</a> of file <a class="el" href="uStepper_8cpp_source.html">uStepper.cpp</a>.</p>
 
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@@ -547,7 +547,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a7a51e61bacd034eef996bc5f
 </div><div class="memdoc">
 <p>Contains the status of the I2C bus </p>
 
-<p class="definition">Definition at line <a class="el" href="uStepper_8h_source.html#l01178">1178</a> of file <a class="el" href="uStepper_8h_source.html">uStepper.h</a>.</p>
+<p class="definition">Definition at line <a class="el" href="uStepper_8h_source.html#l01214">1214</a> of file <a class="el" href="uStepper_8h_source.html">uStepper.h</a>.</p>
 
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 </div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated on Thu Jul 27 2017 20:08:30 for uStepper by &#160;<a href="http://www.doxygen.org/index.html">
+Generated on Wed Jan 10 2018 20:22:00 for uStepper by &#160;<a href="http://www.doxygen.org/index.html">
 <img class="footer" src="doxygen.png" alt="doxygen"/>
 </a> 1.8.13
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