Struct SYN_Stepper

ClassList > SYN_Stepper

Stepper motor controller context.

• #include <syn_stepper.h>

Public Attributes

Type	Name
uint32_t	accel
int32_t	decel_start
bool	dir_invert
SYN_GPIO_Pin	dir_pin
bool	enable_invert
SYN_GPIO_Pin	enable_pin
uint32_t	last_step_tick
uint32_t	max_speed
int32_t	position
uint32_t	speed
uint8_t	state
uint32_t	step_interval
SYN_GPIO_Pin	step_pin
bool	step_state
int32_t	steps_to_go
int32_t	target

Public Attributes Documentation

variable accel

uint32_t SYN_Stepper::accel;

Acceleration in steps/sec²

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variable decel_start

int32_t SYN_Stepper::decel_start;

Step count at which to start decelerating

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variable dir_invert

bool SYN_Stepper::dir_invert;

Invert direction logic

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variable dir_pin

SYN_GPIO_Pin SYN_Stepper::dir_pin;

Direction control GPIO pin

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variable enable_invert

bool SYN_Stepper::enable_invert;

Enable active-low

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variable enable_pin

SYN_GPIO_Pin SYN_Stepper::enable_pin;

Optional enable pin (set to -1 if unused)

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variable last_step_tick

uint32_t SYN_Stepper::last_step_tick;

Tick (µs) of last step

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variable max_speed

uint32_t SYN_Stepper::max_speed;

Maximum speed in steps/sec

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variable position

int32_t SYN_Stepper::position;

Current position (steps, signed)

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variable speed

uint32_t SYN_Stepper::speed;

Current speed (steps/sec, fixed-point Q16)

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variable state

uint8_t SYN_Stepper::state;

SYN_StepperState

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variable step_interval

uint32_t SYN_Stepper::step_interval;

Current step interval (µs)

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variable step_pin

SYN_GPIO_Pin SYN_Stepper::step_pin;

Step signal GPIO pin

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variable step_state

bool SYN_Stepper::step_state;

Current step pin level (for pulse gen)

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variable steps_to_go

int32_t SYN_Stepper::steps_to_go;

Remaining steps in current move

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variable target

int32_t SYN_Stepper::target;

Target position

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The documentation for this class was generated from the following file src/syntropic/motor/syn_stepper.h