.. zephyr:code-sample:: stepper
:name: Stepper
:relevant-api: stepper_interface
Rotate a stepper motor in 4 different modes.
Description
***********
This sample demonstrates how to use the stepper driver API to control a stepper motor. The sample
spins the stepper and outputs the events to the console.
The stepper spins in 4 different modes: ping_pong_relative, ping_pong_absolute, continuous_clockwise
and continuous_anticlockwise. The micro-step interval in nanoseconds can be configured using the
:kconfig:option:`CONFIG_STEP_INTERVAL_NS`. The sample also demonstrates how to use the stepper callback
to change the direction of the stepper after a certain number of steps.
Pressing any button should change the mode of the stepper.
The sample also has a monitor thread that prints the actual position of the stepper motor every
:kconfig:option:`CONFIG_MONITOR_THREAD_TIMEOUT_MS` milliseconds.
Building and Running
********************
This project spins the stepper and outputs the events to the console.
.. zephyr-app-commands::
:zephyr-app: samples/drivers/stepper/generic
:board: nucleo_g071rb
:goals: build flash
Sample Output
=============
.. code-block:: console
*** Booting Zephyr OS build v4.0.0-5289-g0c368e85b117 ***
Actual position: 910
Actual position: 1821
mode: ping pong absolute
Actual position: 2410
mode: rotate cw
Actual position: 2162
Actual position: 3073
mode: rotate ccw
Actual position: 3793
mode: ping pong relative
Actual position: 4607
Actual position: 5518
Actual position: 6428
<repeats endlessly>
b5ff37297d