.. 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, enables, disables, stops 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 mode is printed to the console.
Following modes are supported: enable, ping_pong_relative, ping_pong_absolute, rotate_cw, rotate_ccw,
stop and disable.
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 v4.1.0-568-gad33d28d0348 ***
[00:00:00.000,000] <inf> stepper: Starting generic stepper sample
[00:00:00.000,000] <dbg> stepper: main: stepper is 0x80086b8, name is gpio_stepper
[00:00:00.000,000] <dbg> gpio_stepper_motor_controller: gpio_stepper_set_microstep_interval: Setting Motor step interval to 1000000
[00:00:00.000,000] <dbg> stepper: monitor_thread: Actual position: 0
[00:00:00.491,000] <inf> stepper: mode: enable
[00:00:00.876,000] <inf> stepper: mode: ping pong relative
[00:00:01.000,000] <dbg> stepper: monitor_thread: Actual position: -114
[00:00:01.237,000] <inf> stepper: mode: ping pong absolute
[00:00:01.564,000] <inf> stepper: mode: rotate cw
[00:00:01.871,000] <inf> stepper: mode: rotate ccw
[00:00:02.000,000] <dbg> stepper: monitor_thread: Actual position: 129
[00:00:02.164,000] <inf> stepper: mode: stop
[00:00:02.444,000] <inf> stepper: mode: disable
[00:00:02.755,000] <inf> stepper: mode: enable
<repeats endlessly>
93191aae77