/// <summary>
/// Constructor. You can have multiple simultaneous steppers, all moving
/// at different speeds and accelerations, provided you call their run()
/// functions at frequent enough intervals. Current Position is set to 0, target
/// position is set to 0. MaxSpeed and Acceleration default to 1.0.
/// The motor pins will be initialised to OUTPUT mode during the
/// constructor by a call to enableOutputs().
/// \param[in] interface Number of pins to interface to. Integer values are
/// supported, but it is preferred to use the \ref MotorInterfaceType symbolic names.
/// AccelStepper::DRIVER (1) means a stepper driver (with Step and Direction pins).
/// If an enable line is also needed, call setEnablePin() after construction.
/// You may also invert the pins using setPinsInverted().
/// AccelStepper::FULL2WIRE (2) means a 2 wire stepper (2 pins required).
/// AccelStepper::FULL3WIRE (3) means a 3 wire stepper, such as HDD spindle (3 pins required).
/// AccelStepper::FULL4WIRE (4) means a 4 wire stepper (4 pins required).
/// AccelStepper::HALF3WIRE (6) means a 3 wire half stepper, such as HDD spindle (3 pins required)
/// AccelStepper::HALF4WIRE (8) means a 4 wire half stepper (4 pins required)
/// Defaults to AccelStepper::FULL4WIRE (4) pins.
/// </summary>
/// <param name="motorInterface">Defines the motor type</param>
/// <param name="pin1"></param>
/// <param name="pin2"></param>
/// <param name="pin3"></param>
/// <param name="pin4"></param>
/// <param name="enable">Defines whether the outputs are powered or unpowered after instantiation</param>
/// <param name="getMicroSeconds">Custom time method. To be used when hardware allows time measurement with less latency then DateTime.UtcNow.Ticks</param>
public AccelStepper(MotorInterfaceType motorInterface, byte pin1, byte pin2, byte pin3, byte pin4, bool enable, GetMicroSecondsHandler getMicroSeconds = null)
{
_interface = motorInterface;
_currentPos = 0;
_targetPos = 0;
_speed = 0.0f;
_maxSpeed = 1.0f;
_acceleration = 0.0f;
_stepInterval = 0;
_minPulseWidth = 1;
_enablePin = new Pin {
Num = 0xff
};
_lastStepTime = 0;
_pin[0] = new Pin {
Num = pin1
};
_pin[1] = new Pin {
Num = pin2
};
_pin[2] = new Pin {
Num = pin3
};
_pin[3] = new Pin {
Num = pin4
};
_enableInverted = 0;
_getMicroSecondsHandler = getMicroSeconds ?? defaultGetMicroSeconds;
// NEW
_n = 0;
_c0 = 0.0f;
_cn = 0.0f;
_cmin = 1.0f;
_direction = Direction.DIRECTION_CCW;
int i;
for (i = 0; i < 4; i++)
{
_pinInverted[i] = 0x00;
}
if (enable)
{
EnableOutputs();
}
// Some reasonable default
SetAcceleration(1);
}
/// <summary>
/// Alternate Constructor which will call your own functions for forward and backward steps.
/// You can have multiple simultaneous steppers, all moving
/// at different speeds and accelerations, provided you call their run()
/// functions at frequent enough intervals. Current Position is set to 0, target
/// position is set to 0. MaxSpeed and Acceleration default to 1.0.
/// Any motor initialization should happen before hand, no pins are used or initialized.
/// </summary>
/// <param name="forward">forward void-returning procedure that will make a forward step</param>
/// <param name="backward">backward void-returning procedure that will make a backward step</param>
/// <param name="getMicrosecondsHandler">Custom time method. To be used when hardware allows time measurement with less latency then DateTime.UtcNow.Ticks</param>
public AccelStepper(ForwardHandler forward, BackwardHandler backward, GetMicroSecondsHandler getMicrosecondsHandler)
{
_interface = 0;
_currentPos = 0;
_targetPos = 0;
_speed = 0.0f;
_maxSpeed = 1.0f;
_acceleration = 0.0f;
_stepInterval = 0;
_minPulseWidth = 1;
_enablePin = new Pin {
Num = 0xff
};
_lastStepTime = 0;
_pin[0] = new Pin();
_pin[1] = new Pin();
_pin[2] = new Pin();
_pin[3] = new Pin();
_forward = forward;
_backward = backward;
_getMicroSecondsHandler = getMicrosecondsHandler;
// NEW
_n = 0;
_c0 = 0.0f;
_cn = 0.0f;
_cmin = 1.0f;
_direction = Direction.DIRECTION_CCW;
int i;
for (i = 0; i < 4; i++)
{
_pinInverted[i] = 0;
}
// Some reasonable default
SetAcceleration(1);
}
