StepperHw Class Reference

#include <stepper.h>

Inheritance diagram for StepperHw:

Collaboration diagram for StepperHw:

Public Member Functions
virtual bool	step (bool positive)=0
void	pause (int divisor=1) const
virtual void	sleep ()

Protected Member Functions
void	setReactionTime (float ms)

Private Attributes
float	m_reactionTime = 5.0f

Detailed Description

Definition at line 15 of file stepper.h.

Member Function Documentation

pause()

void StepperHw::pause

(

int

divisor = 1

)

const

Definition at line 197 of file stepper.cpp.

                                       {
    // currently we can't sleep less than 1ms (see #3214)
    chThdSleepMicroseconds(maxI(MS2US(1), (int)(MS2US(m_reactionTime)) / divisor));
}

Referenced by StepperMotorBase::doIteration(), StepDirectionStepper::pulse(), StepDirectionStepper::setDirection(), sleep(), DualHBridgeStepper::sleep(), and DualHBridgeStepper::step().

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setReactionTime()

void StepperHw::setReactionTime ( float  ms )

protected

Definition at line 202 of file stepper.cpp.

                                        {
    m_reactionTime = std::max(1.0f, ms);
}

Referenced by StepDirectionStepper::initialize(), and DualHBridgeStepper::initialize().

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sleep()

void StepperHw::sleep ( )

virtual

Reimplemented in DualHBridgeStepper.

Definition at line 193 of file stepper.cpp.

                      {
    pause();
}

Referenced by StepperMotorBase::doIteration().

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step()

virtual bool StepperHw::step ( bool  positive )

pure virtual

Implemented in StepDirectionStepper, and DualHBridgeStepper.

Referenced by StepperMotorBase::doIteration(), and StepperMotorBase::setInitialPosition().

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Field Documentation

m_reactionTime

float StepperHw::m_reactionTime = 5.0f

private

Definition at line 27 of file stepper.h.

Referenced by pause(), and setReactionTime().

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The documentation for this class was generated from the following files:

• hw_layer/stepper.h
• hw_layer/stepper.cpp