Class GpioStepperBase

Represents an abstract GPIO-based stepper motor.

Assembly: GpioStepper.dll

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public abstract class GpioStepperBase : IStepperMotor, IPositionalMotor, IVariableSpeedMotor, IMotor

Derived:
Meadow.Foundation.Motors.Stepper.CwCcwStepper, Meadow.Foundation.Motors.Stepper.StepDirStepper

Implements:
Meadow.Peripherals.Motors.IStepperMotor, Meadow.Peripherals.Motors.IPositionalMotor, Meadow.Peripherals.Motors.IVariableSpeedMotor, Meadow.Peripherals.Motors.IMotor

Properties

Direction

Gets the current rotation direction of the motor.

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public RotationDirection Direction { get; protected set; }

Position

Gets the current position of the motor.

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public abstract Angle Position { get; }

IsMoving

Gets a value indicating whether the motor is currently in motion.

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public abstract bool IsMoving { get; }

MaxVelocity

Gets the maximum run velocity for the motor

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public abstract AngularVelocity MaxVelocity { get; }

StepsPerRevolution

Gets the number of steps required for the stepper motor to complete one full revolution.

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public abstract int StepsPerRevolution { get; }

Methods

Rotate(int, RotationDirection, Frequency, CancellationToken)

Rotates the stepper motor by the specified number of steps in the specified direction with the given frequency.

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public abstract Task Rotate(int steps, RotationDirection direction, Frequency rate, CancellationToken cancellationToken = default)

Returns

System.Threading.Tasks.Task

Parameters

Type	Name	Description
System.Int32	steps	The number of steps to rotate the motor.
Meadow.Peripherals.RotationDirection	direction	The direction in which to rotate the motor.
Meadow.Units.Frequency	rate	The frequency of the steps at which to rotate the motor.
System.Threading.CancellationToken	cancellationToken	A token to cancel the operation.

Stop(CancellationToken)

Stops the motor.

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public abstract Task Stop(CancellationToken cancellationToken = default)

Returns

System.Threading.Tasks.Task: A task representing the asynchronous operation.

Parameters

Type	Name	Description
System.Threading.CancellationToken	cancellationToken	Optional cancellation token to stop the operation.

ResetPosition(CancellationToken)

Resets the position of the motor.

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public abstract Task ResetPosition(CancellationToken cancellationToken = default)

Returns

System.Threading.Tasks.Task

Parameters

Type	Name	Description
System.Threading.CancellationToken	cancellationToken	A token to cancel the operation.

GetFrequencyForVelocity(AngularVelocity)

Gets the frequency corresponding to the specified angular velocity.

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protected Frequency GetFrequencyForVelocity(AngularVelocity velocity)

Returns

Meadow.Units.Frequency: The frequency required for the specified angular velocity.

Parameters

Type	Name	Description
Meadow.Units.AngularVelocity	velocity	The angular velocity.

GoTo(Angle, AngularVelocity, CancellationToken)

Moves the motor to the specified position with the given velocity.

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public Task GoTo(Angle position, AngularVelocity velocity, CancellationToken cancellationToken = default)

Returns

System.Threading.Tasks.Task

Parameters

Type	Name	Description
Meadow.Units.Angle	position	The target position to move to.
Meadow.Units.AngularVelocity	velocity	The angular velocity of the motor during the movement.
System.Threading.CancellationToken	cancellationToken	A token to cancel the operation.

GoTo(Angle, RotationDirection, AngularVelocity, CancellationToken)

Moves the motor to the specified position and direction with the given velocity.

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public Task GoTo(Angle position, RotationDirection direction, AngularVelocity velocity, CancellationToken cancellationToken = default)

Returns

System.Threading.Tasks.Task

Parameters

Type	Name	Description
Meadow.Units.Angle	position	The target position to move to.
Meadow.Peripherals.RotationDirection	direction	The direction in which to move the motor.
Meadow.Units.AngularVelocity	velocity	The angular velocity of the motor during the movement.
System.Threading.CancellationToken	cancellationToken	A token to cancel the operation.

Rotate(Angle, RotationDirection, AngularVelocity, CancellationToken)

Rotates the motor by the specified angle and direction with the given velocity.

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public Task Rotate(Angle amountToRotate, RotationDirection direction, AngularVelocity velocity, CancellationToken cancellationToken = default)

Returns

System.Threading.Tasks.Task

Parameters

Type	Name	Description
Meadow.Units.Angle	amountToRotate	The angle by which to rotate the motor.
Meadow.Peripherals.RotationDirection	direction	The direction in which to rotate the motor.
Meadow.Units.AngularVelocity	velocity	The angular velocity of the motor during the rotation.
System.Threading.CancellationToken	cancellationToken	A token to cancel the operation.

Run(RotationDirection, AngularVelocity, CancellationToken)

Runs the motor in the specified direction with the given velocity.

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public Task Run(RotationDirection direction, AngularVelocity velocity, CancellationToken cancellationToken = default)

Returns

System.Threading.Tasks.Task

Parameters

Type	Name	Description
Meadow.Peripherals.RotationDirection	direction	The direction in which to run the motor.
Meadow.Units.AngularVelocity	velocity	The angular velocity of the motor during the run.
System.Threading.CancellationToken	cancellationToken	A token to cancel the operation.

RunFor(TimeSpan, RotationDirection, AngularVelocity, CancellationToken)

Runs the motor for a specified duration in the specified direction with the given velocity.

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public Task RunFor(TimeSpan runTime, RotationDirection direction, AngularVelocity velocity, CancellationToken cancellationToken = default)

Returns

System.Threading.Tasks.Task

Parameters

Type	Name	Description
System.TimeSpan	runTime	The duration for which to run the motor.
Meadow.Peripherals.RotationDirection	direction	The direction in which to run the motor.
Meadow.Units.AngularVelocity	velocity	The angular velocity of the motor during the run.
System.Threading.CancellationToken	cancellationToken	A token to cancel the operation.

Run(RotationDirection, float, CancellationToken)

Runs the motor continuously with the given parameters.

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public Task Run(RotationDirection direction, float speed, CancellationToken cancellationToken = default)

Returns

System.Threading.Tasks.Task: A task representing the asynchronous operation.

Parameters

Type	Name	Description
Meadow.Peripherals.RotationDirection	direction	The rotation direction of the motor.
System.Single	speed	The speed (as a percentage) at which the motor should run (0 to 100).
System.Threading.CancellationToken	cancellationToken	Optional cancellation token to stop the operation.

RunFor(TimeSpan, RotationDirection, float, CancellationToken)

Runs the motor for a specified duration with the given parameters.

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public virtual Task RunFor(TimeSpan runTime, RotationDirection direction, float speed, CancellationToken cancellationToken = default)

Returns

System.Threading.Tasks.Task: A task representing the asynchronous operation.

Parameters

Type	Name	Description
System.TimeSpan	runTime	The duration for which the motor should run.
Meadow.Peripherals.RotationDirection	direction	The rotation direction of the motor.
System.Single	speed	The speed (as a percentage) at which the motor should run (0 to 100).
System.Threading.CancellationToken	cancellationToken	Optional cancellation token to stop the operation.

RunFor(TimeSpan, RotationDirection, CancellationToken)

Runs the motor for a specified duration with the given parameters.

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public Task RunFor(TimeSpan runTime, RotationDirection direction, CancellationToken cancellationToken = default)

Returns

System.Threading.Tasks.Task: A task representing the asynchronous operation.

Parameters

Type	Name	Description
System.TimeSpan	runTime	The duration for which the motor should run.
Meadow.Peripherals.RotationDirection	direction	The rotation direction of the motor.
System.Threading.CancellationToken	cancellationToken	Optional cancellation token to stop the operation.

Run(RotationDirection, CancellationToken)

Runs the motor continuously with the given parameters.

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public Task Run(RotationDirection direction, CancellationToken cancellationToken = default)

Returns

System.Threading.Tasks.Task: A task representing the asynchronous operation.

Parameters

Type	Name	Description
Meadow.Peripherals.RotationDirection	direction	The rotation direction of the motor.
System.Threading.CancellationToken	cancellationToken	Optional cancellation token to stop the operation.

Implements

• Meadow.Peripherals.Motors.IStepperMotor
• Meadow.Peripherals.Motors.IPositionalMotor
• Meadow.Peripherals.Motors.IVariableSpeedMotor
• Meadow.Peripherals.Motors.IMotor