93191aae77
extend stepper generic sample to include enable, disable and stop functions Signed-off-by: Jilay Pandya <jilay.pandya@outlook.com>
57 lines
2.4 KiB
ReStructuredText
57 lines
2.4 KiB
ReStructuredText
.. zephyr:code-sample:: stepper
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:name: Stepper
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:relevant-api: stepper_interface
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Rotate a stepper motor in 4 different modes.
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Description
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***********
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This sample demonstrates how to use the stepper driver API to control a stepper motor. The sample
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spins, enables, disables, stops the stepper and outputs the events to the console.
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The stepper spins in 4 different modes: ping_pong_relative, ping_pong_absolute, continuous_clockwise
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and continuous_anticlockwise. The micro-step interval in nanoseconds can be configured using the
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:kconfig:option:`CONFIG_STEP_INTERVAL_NS`. The sample also demonstrates how to use the stepper callback
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to change the direction of the stepper after a certain number of steps.
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Pressing any button should change the mode of the stepper. The mode is printed to the console.
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Following modes are supported: enable, ping_pong_relative, ping_pong_absolute, rotate_cw, rotate_ccw,
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stop and disable.
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The sample also has a monitor thread that prints the actual position of the stepper motor every
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:kconfig:option:`CONFIG_MONITOR_THREAD_TIMEOUT_MS` milliseconds.
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Building and Running
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********************
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This project spins the stepper and outputs the events to the console.
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.. zephyr-app-commands::
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:zephyr-app: samples/drivers/stepper/generic
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:board: nucleo_g071rb
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:goals: build flash
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Sample Output
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=============
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.. code-block:: console
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*** Booting Zephyr OS build v4.1.0-568-gad33d28d0348 ***
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[00:00:00.000,000] <inf> stepper: Starting generic stepper sample
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[00:00:00.000,000] <dbg> stepper: main: stepper is 0x80086b8, name is gpio_stepper
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[00:00:00.000,000] <dbg> gpio_stepper_motor_controller: gpio_stepper_set_microstep_interval: Setting Motor step interval to 1000000
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[00:00:00.000,000] <dbg> stepper: monitor_thread: Actual position: 0
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[00:00:00.491,000] <inf> stepper: mode: enable
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[00:00:00.876,000] <inf> stepper: mode: ping pong relative
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[00:00:01.000,000] <dbg> stepper: monitor_thread: Actual position: -114
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[00:00:01.237,000] <inf> stepper: mode: ping pong absolute
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[00:00:01.564,000] <inf> stepper: mode: rotate cw
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[00:00:01.871,000] <inf> stepper: mode: rotate ccw
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[00:00:02.000,000] <dbg> stepper: monitor_thread: Actual position: 129
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[00:00:02.164,000] <inf> stepper: mode: stop
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[00:00:02.444,000] <inf> stepper: mode: disable
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[00:00:02.755,000] <inf> stepper: mode: enable
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<repeats endlessly>
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