This library is inspired by arduino AccelStepper library, but unlike it uses timer interrupts to execute steps.
The library has summary speed limit for all stepper motors as since some threshold an interrupt processing takes 100% of CPU time.
MCU with 84 MHz cortex M4 core (like SMT32F401) gives the following approximate limits:
- mbed-os "debug" profile: 30000 steps per second
- mbed-os "release" profile: 100000 steps per second
- Constant speed mode. In this mode library trigger steps with a constant interval.
- Constant acceleration mode. In this mode library tracks current speed and limit maximal acceleration. It allows reaching smooth movement and higher speed than constant speed mode.
- Custom step mode. In this mode external code defines custom function to calculate an interval between steps.
Examples of different modes usage can be found in examples folder.
Currently, library contains only implementation for stepper motor with A4988/DRV8825 controller IC or compatible chips.
| Mbed OS | status |
|---|---|
| 6.5 | Compiles and runs ok |