java.lang.Object
- org.deepjava.runtime.mpc555.driver.StepMotor

All Implemented Interfaces:

Impc555, IntbMpc555HB, Ippc32
```
public class StepMotor
extends Object
implements IntbMpc555HB
```
Step motor driver on TPU-A or TPU-B.
Full step and half step modes are possible.
Full step requires 2 pins on the TPU. The pins deliver A and B signals. These signals have to be externally inverted to drive the coils of the motor (A, A', B, B'). Half step uses 4 pins on the TPU.
When starting a motor the signals provide a ramping up to the final speed. When stopping they are ramping down to zero. A ramp will also be used when the stepping speed changes.

Field Summary

Fields
Modifier and Type Field Description

(package private) int channel

(package private) int diff

(package private) boolean fullStep

(package private) int openSteps
- Fields inherited from interface org.deepjava.runtime.mpc555.Impc555
  BAR, BBCMCR, BR0, BR1, BR2, BR3, CCW_A, CCW_B, CFSR0_A, CFSR0_B, CFSR1_A, CFSR1_B, CFSR2_A, CFSR2_B, CFSR3_A, CFSR3_B, CIER_A, CIER_B, CISR_A, CISR_B, CMFA_BaseAddr, CMFA_Size, CMFB_BaseAddr, CMFB_Size, CMFCTL_A, CMFCTL_B, CMFMCR_A, CMFMCR_B, CMFTST_A, CMFTST_B, CMPA, CMPB, CMPC, CMPD, CMPE, CMPF, CMPG, CMPH, COLIR, COMDRAM, COUNTA, COUNTB, CPR0_A, CPR0_B, CPR1_A, CPR1_B, DDRQA_A, DDRQA_B, DDRQS, DER, DMBR, DMOR, DPTMCR, DSCR_A, DSCR_B, DSSR_A, DSSR_B, ECR, EID, EIE, EMCR, excpCodeBase, excpCodeSize, FPECR, HSQR0_A, HSQR0_B, HSQR1_A, HSQR1_B, HSRR0_A, HSRR0_B, HSRR1_A, HSRR1_B, ICTRL, IMB, IMMR, L2U_GRA, L2U_MCR, L2U_RA0, L2U_RA1, L2U_RA2, L2U_RA3, L2U_RBA0, L2U_RBA1, L2U_RBA2, L2U_RBA3, LCTRL1, LCTRL2, LJSRR_A, LJSRR_B, LJURR_A, LJURR_B, MCPSMSCR, MDASM11AR, MDASM11BR, MDASM11SCR, MDASM11SCRD, MDASM12AR, MDASM12BR, MDASM12SCR, MDASM12SCRD, MDASM13AR, MDASM13BR, MDASM13SCR, MDASM13SCRD, MDASM14AR, MDASM14BR, MDASM14SCR, MDASM14SCRD, MDASM15AR, MDASM15BR, MDASM15SCR, MDASM15SCRD, MDASM27AR, MDASM27BR, MDASM27SCR, MDASM27SCRD, MDASM28AR, MDASM28BR, MDASM28SCR, MDASM28SCRD, MDASM29AR, MDASM29BR, MDASM29SCR, MDASM29SCRD, MDASM30AR, MDASM30BR, MDASM30SCR, MDASM30SCRD, MDASM31AR, MDASM31BR, MDASM31SCR, MDASM31SCRD, MI_GRA, MI_RA0, MI_RA1, MI_RA2, MI_RA3, MI_RBA0, MI_RBA1, MI_RBA2, MI_RBA3, MIOS1ER0, MIOS1ER1, MIOS1LVL0, MIOS1LVL1, MIOS1MCR, MIOS1RPR0, MIOS1RPR1, MIOS1SR0, MIOS1SR1, MIOS1TPCR, MIOS1VNR, MISCNT, MISRH, MISRL, MMCSM22CNT, MMCSM22ML, MMCSM22SCR, MMCSM22SCRD, MMCSM6CNT, MMCSM6ML, MMCSM6SCR, MMCSM6SCRD, MPIOSMDDR, MPIOSMDR, MPWMSM0CNTR, MPWMSM0PERR, MPWMSM0PULR, MPWMSM0SCR, MPWMSM16CNTR, MPWMSM16PERR, MPWMSM16PULR, MPWMSM16SCR, MPWMSM17CNTR, MPWMSM17PERR, MPWMSM17PULR, MPWMSM17SCR, MPWMSM18CNTR, MPWMSM18PERR, MPWMSM18PULR, MPWMSM18SCR, MPWMSM19CNTR, MPWMSM19PERR, MPWMSM19PULR, MPWMSM19SCR, MPWMSM1CNTR, MPWMSM1PERR, MPWMSM1PULR, MPWMSM1SCR, MPWMSM2CNTR, MPWMSM2PERR, MPWMSM2PULR, MPWMSM2SCR, MPWMSM3CNTR, MPWMSM3PERR, MPWMSM3PULR, MPWMSM3SCR, MSTAT, NRI, OR0, OR1, OR2, OR3, PDMCR, PISCR, PISCRIK, PITC, PITCK, PITR, PLPRCR, PLPRCRK, PORTQA_A, PORTQA_B, PORTQB_A, PORTQB_B, PORTQS, PQSPAR, PVR, QACR0_A, QACR0_B, QACR1_A, QACR1_B, QACR2_A, QACR2_B, QADC64INT_A, QADC64INT_B, QADC64MCR_A, QADC64MCR_B, QASR0_A, QASR0_B, QASR1_A, QASR1_B, QDSCI_IL, QSCI1CR, QSCI1SR, QSMCMMCR, QSPI_IL, RAMBAR, RECRAM, RJURR_A, RJURR_B, RSR, RSRK, RTC, RTCAL, RTCALK, RTCK, RTCSC, RTCSCK, RTSEC, RTSECK, SC1DR, SC1SR, SC2DR, SC2SR, SCC1R0, SCC1R1, SCC2R0, SCC2R1, SCCR, SCCRK, SCRQ, SCTQ, SGPIOCR, SGPIODT1, SGPIODT2, SIEL, SIMASK, SIPEND, SIUMCR, SIVEC, SPCR0, SPCR1, SPCR2, SPCR3, SPR1022, SPR144, SPR145, SPR146, SPR147, SPR148, SPR149, SPR150, SPR151, SPR152, SPR153, SPR154, SPR155, SPR156, SPR157, SPR158, SPR159, SPR528, SPR536, SPR560, SPR568, SPR638, SPR784, SPR785, SPR786, SPR787, SPR792, SPR793, SPR794, SPR795, SPR80, SPR81, SPR816, SPR817, SPR818, SPR819, SPR82, SPR824, SPR825, SPR826, SPR827, SPSR, SRAMA_BaseAddr, SRAMA_Size, SRAMB_BaseAddr, SRAMB_Size, SRAMMCR_A, SRAMMCR_B, stackSize, SWSR, SYPCR, sysTabBaseAddr, TBK, TBREF0, TBREF0K, TBREF1, TBREF1K, TBSCR, TBSCRK, TESR, TICR_A, TICR_B, TPUMCR_A, TPUMCR_B, TPUMCR2_A, TPUMCR2_B, TPUMCR3_A, TPUMCR3_B, TPURAM0_A, TPURAM0_B, TPURAM1_A, TPURAM1_B, TPURAM10_A, TPURAM10_B, TPURAM11_A, TPURAM11_B, TPURAM12_A, TPURAM12_B, TPURAM13_A, TPURAM13_B, TPURAM14_A, TPURAM14_B, TPURAM15_A, TPURAM15_B, TPURAM2_A, TPURAM2_B, TPURAM3_A, TPURAM3_B, TPURAM4_A, TPURAM4_B, TPURAM5_A, TPURAM5_B, TPURAM6_A, TPURAM6_B, TPURAM7_A, TPURAM7_B, TPURAM8_A, TPURAM8_B, TPURAM9_A, TPURAM9_B, TRANRAM, UIPEND, UMCR, UTSTCREG, VSRMCR
- Fields inherited from interface org.deepjava.runtime.mpc555.IntbMpc555HB
  dualMappedSize, extFlashBase, extFlashSize, extRamBase, extRamSize, heapSize, SRR1init
- Fields inherited from interface org.deepjava.runtime.ppc32.Ippc32
  CR, CTR, DAR, DEC, DSISR, FPR0, FPR1, FPR10, FPR11, FPR12, FPR13, FPR14, FPR15, FPR16, FPR17, FPR18, FPR19, FPR2, FPR20, FPR21, FPR22, FPR23, FPR24, FPR25, FPR26, FPR27, FPR28, FPR29, FPR3, FPR30, FPR31, FPR4, FPR5, FPR6, FPR7, FPR8, FPR9, FPSCR, LR, MSR, R0, R1, R10, R11, R12, R13, R14, R15, R16, R17, R18, R19, R2, R20, R21, R22, R23, R24, R25, R26, R27, R28, R29, R3, R30, R31, R4, R5, R6, R7, R8, R9, SPR1, SPR18, SPR19, SPR22, SPR26, SPR268, SPR269, SPR27, SPR272, SPR273, SPR274, SPR275, SPR287, SPR8, SPR9, SPRG0, SPRG1, SPRG2, SPRG3, SRR0, SRR1, TBLread, TBUread, XER

Constructor Summary

Constructors
Constructor Description

StepMotor(boolean tpuA, boolean fullStep, int stepPeriod, int channel)
Creates a step motor driver.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`boolean`	`finished()`	Queries whether the motor has reached its required position.
`void`	`move(int steps)`	Moves the motor for `steps`.
`int`	`position()`	Queries actual position of the motor.
`void`	`reset()`	Resets the position. The final position is set to the actual position.
`void`	`start()`	Starts the step motor. Use this method solely to start the motor after it has been stopped with `stop(...)`.
`void`	`stop()`	Stops the step motor. The motor can subsequently be restarted with `start(...)`.

Methods inherited from class java.lang.Object
equals, getClass, hashCode, toString

- Field Detail
  - channel
```
int channel
```
  - fullStep
```
boolean fullStep
```
  - diff
```
int diff
```
  - openSteps
```
int openSteps
```
- Constructor Detail
  - StepMotor
```
public StepMotor(boolean tpuA,
                 boolean fullStep,
                 int stepPeriod,
                 int channel)
```
    Creates a step motor driver.
    
    Parameters:
    
    tpuA - true uses TPU-A. false uses TPU-B.
    
    fullStep - true: full step mode. false: half step mode.
    
    stepPeriod - Maximum stepping speed in µs (stepPeriod <= 6553)
    
    channel - First pin on TPU. For full step channel and channel+1 pin will be used. For half step channel, channel+1, channel+2 and channel+3 will be used. Accordingly for full step channel is in the range of 0..14 while for half step the range is between 0..12.
- Method Detail
  - move
```
public void move(int steps)
```
    Moves the motor for steps.
    
    Parameters:
    
    steps - Number of steps. A negative value moves the motor in the opposite direction.
  - start
```
public void start()
```
    Starts the step motor.
    Use this method solely to start the motor after it has been stopped with stop(...).
  - stop
```
public void stop()
```
    Stops the step motor.
    The motor can subsequently be restarted with start(...).
  - finished
```
public boolean finished()
```
    Queries whether the motor has reached its required position.
    
    Returns:
    
    true if required position has been reached.
  - position
```
public int position()
```
    Queries actual position of the motor.
    
    Returns:
    
    Actual position in steps.
  - reset
```
public void reset()
```
    Resets the position.
    The final position is set to the actual position. This immediately stops the motor.

Modifier and Type	Field	Description
`(package private) int`	`channel`
`(package private) int`	`diff`
`(package private) boolean`	`fullStep`
`(package private) int`	`openSteps`

Class StepMotor

Field Summary

Fields inherited from interface org.deepjava.runtime.mpc555.Impc555

Fields inherited from interface org.deepjava.runtime.mpc555.IntbMpc555HB

Fields inherited from interface org.deepjava.runtime.ppc32.Ippc32

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

channel

fullStep

diff

openSteps

Constructor Detail

StepMotor

Method Detail

move

start

stop

finished

position

reset