Class StepDirStepper

A stepper motor that uses a GPIO pulse for step and a GPIO for travel direction

Assembly: GpioStepper.dll

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

Inheritance: System.Object -> Meadow.Foundation.Motors.Stepper.GpioStepperBase

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

Properties

MinimumStartupDwellMicroseconds

Gets or sets the minimum step dwell time when motor changes from stationary to moving. Motors with more mass or larger steps require more dwell.

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public int MinimumStartupDwellMicroseconds { get; set; }

LinearAccelerationConstant

Gets or sets a constant that affects the rate of linear acceleration for the motor. A lower value yields faster acceleration. Motors with more mass or larger steps require slower acceleration

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public int LinearAccelerationConstant { get; set; }

StepsPerRevolution

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

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public override int StepsPerRevolution { get; }

InverseLogic

Gets a value indicating whether or not the logic for the stepper motor driver is inverted.

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public bool InverseLogic { get; }

IsMoving

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

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public override bool IsMoving { get; }

Position

Gets the current position of the motor.

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public override Angle Position { get; }

MaxVelocity

Gets the maximum run velocity for the motor

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public override AngularVelocity MaxVelocity { get; }

Methods

ResetPosition(CancellationToken)

Resets the position of the motor.

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public override Task ResetPosition(CancellationToken cancellationToken = default)

Returns

System.Threading.Tasks.Task

Parameters

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

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 override 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 override 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.

Implements

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