#include <yocto_steppermotor.h>

Inheritance diagram for YStepperMotor:

Public Member Functions
virtual int	_invokeValueCallback (string value)

virtual int	abortAndBrake (void)

virtual int	abortAndHiZ (void)

string	alertMode (void)

virtual int	alertStepDir (int dir)

virtual int	alertStepOut (void)

string	auxMode (void)

int	auxSignal (void)

virtual int	changeSpeed (double speed)

string	command (void)

int	diags (void)

virtual int	emergencyStop (void)

virtual int	findHomePosition (double speed)

string	get_alertMode (void)

string	get_auxMode (void)

int	get_auxSignal (void)

string	get_command (void)

int	get_diags (void)

double	get_maxAccel (void)

double	get_maxSpeed (void)

Y_MOTORSTATE_enum	get_motorState (void)

int	get_overcurrent (void)

double	get_pullinSpeed (void)

double	get_speed (void)

Y_STEPPING_enum	get_stepping (void)

double	get_stepPos (void)

int	get_tCurrRun (void)

int	get_tCurrStop (void)

double	maxAccel (void)

double	maxSpeed (void)

Y_MOTORSTATE_enum	motorState (void)

virtual int	moveRel (double relPos)

virtual int	moveRelSlow (double relPos, double maxSpeed)

virtual int	moveTo (double absPos)

YStepperMotor *	next (void)

YStepperMotor *	nextStepperMotor (void)

int	overcurrent (void)

virtual int	pause (int waitMs)

double	pullinSpeed (void)

virtual int	registerValueCallback (YStepperMotorValueCallback callback)

virtual int	reset (void)

virtual int	sendCommand (string command)

int	set_alertMode (const string &newval)

int	set_auxMode (const string &newval)

int	set_auxSignal (int newval)

int	set_command (const string &newval)

int	set_maxAccel (double newval)

int	set_maxSpeed (double newval)

int	set_overcurrent (int newval)

int	set_pullinSpeed (double newval)

int	set_stepping (Y_STEPPING_enum newval)

int	set_stepPos (double newval)

int	set_tCurrRun (int newval)

int	set_tCurrStop (int newval)

int	setAlertMode (const string &newval)

int	setAuxMode (const string &newval)

int	setAuxSignal (int newval)

int	setCommand (const string &newval)

int	setMaxAccel (double newval)

int	setMaxSpeed (double newval)

int	setOvercurrent (int newval)

int	setPullinSpeed (double newval)

int	setStepping (Y_STEPPING_enum newval)

int	setStepPos (double newval)

int	setTCurrRun (int newval)

int	setTCurrStop (int newval)

double	speed (void)

Y_STEPPING_enum	stepping (void)

double	stepPos (void)

int	tCurrRun (void)

int	tCurrStop (void)

	~YStepperMotor ()

Public Member Functions inherited from YFunction
void	_clearDataStreamCache ()

string	_decode_json_string (const string &json)

string	_download (const string &url)

YDataStream *	_findDataStream (YDataSet &dataset, const string &def)

string	_get_json_path (const string &json, const string &path)

vector< string >	_json_get_array (const string &json)

string	_json_get_key (const string &json, const string &data)

string	_json_get_string (const string &json)

int	_parseEx (yJsonStateMachine &j)

virtual int	_parserHelper (void)

string	_parseString (yJsonStateMachine &j)

string	_request (const string &request)

string	_requestEx (int tcpchan, const string &request, yapiRequestProgressCallback callback, void *context)

void	_throw (YRETCODE errType, string errMsg)

YRETCODE	_upload (const string &path, const string &content)

YRETCODE	_uploadWithProgress (const string &path, const string &content, yapiRequestProgressCallback callback, void *context)

string	advertisedValue (void)

void	clearCache ()

string	describe (void)

string	errMessage (void)

string	errorMessage (void)

YRETCODE	errorType (void)

YRETCODE	errType (void)

YFUN_DESCR	functionDescriptor (void)

string	get_advertisedValue (void)

string	get_errorMessage (void)

YRETCODE	get_errorType (void)

virtual string	get_friendlyName (void)

YFUN_DESCR	get_functionDescriptor (void)

string	get_functionId (void)

string	get_hardwareId (void)

string	get_hubSerial ()

string	get_logicalName (void)

YModule *	get_module (void)

void *	get_userData (void)

bool	isOnline (void)

YRETCODE	load (int msValidity)

virtual string	loadAttribute (string attrName)

string	logicalName (void)

YModule *	module (void)

virtual int	muteValueCallbacks (void)

YFunction *	next (void)

YFunction *	nextFunction (void)

virtual int	registerValueCallback (YFunctionValueCallback callback)

int	set_advertisedValue (const string &newval)

int	set_logicalName (const string &newval)

void	set_userData (void *data)

int	setAdvertisedValue (const string &newval)

int	setLogicalName (const string &newval)

void	setUserData (void *data)

virtual int	unmuteValueCallbacks (void)

void *	userData (void)

virtual	~YFunction ()

Static Public Member Functions
static YStepperMotor *	Find (string func)

static YStepperMotor *	FindStepperMotor (string func)

static YStepperMotor *	First (void)

static YStepperMotor *	FirstStepperMotor (void)

Static Public Member Functions inherited from YFunction
static void	_ClearCache (void)

static YFunction *	Find (string func)

static YFunction *	FindFunction (string func)

static YFunction *	First (void)

static YFunction *	FirstFunction (void)

Static Public Attributes
static const string	ALERTMODE_INVALID = YAPI_INVALID_STRING

static const string	AUXMODE_INVALID = YAPI_INVALID_STRING

static const int	AUXSIGNAL_INVALID = YAPI_INVALID_INT

static const string	COMMAND_INVALID = YAPI_INVALID_STRING

static const int	DIAGS_INVALID = YAPI_INVALID_UINT

static const double	MAXACCEL_INVALID = YAPI_INVALID_DOUBLE

static const double	MAXSPEED_INVALID = YAPI_INVALID_DOUBLE

static const Y_MOTORSTATE_enum	MOTORSTATE_ABSENT = Y_MOTORSTATE_ABSENT

static const Y_MOTORSTATE_enum	MOTORSTATE_ALERT = Y_MOTORSTATE_ALERT

static const Y_MOTORSTATE_enum	MOTORSTATE_BATCH = Y_MOTORSTATE_BATCH

static const Y_MOTORSTATE_enum	MOTORSTATE_HI_Z = Y_MOTORSTATE_HI_Z

static const Y_MOTORSTATE_enum	MOTORSTATE_INVALID = Y_MOTORSTATE_INVALID

static const Y_MOTORSTATE_enum	MOTORSTATE_RUN = Y_MOTORSTATE_RUN

static const Y_MOTORSTATE_enum	MOTORSTATE_STOP = Y_MOTORSTATE_STOP

static const int	OVERCURRENT_INVALID = YAPI_INVALID_UINT

static const double	PULLINSPEED_INVALID = YAPI_INVALID_DOUBLE

static const double	SPEED_INVALID = YAPI_INVALID_DOUBLE

static const Y_STEPPING_enum	STEPPING_FULLSTEP = Y_STEPPING_FULLSTEP

static const Y_STEPPING_enum	STEPPING_HALFSTEP = Y_STEPPING_HALFSTEP

static const Y_STEPPING_enum	STEPPING_INVALID = Y_STEPPING_INVALID

static const Y_STEPPING_enum	STEPPING_MICROSTEP16 = Y_STEPPING_MICROSTEP16

static const Y_STEPPING_enum	STEPPING_MICROSTEP4 = Y_STEPPING_MICROSTEP4

static const Y_STEPPING_enum	STEPPING_MICROSTEP8 = Y_STEPPING_MICROSTEP8

static const double	STEPPOS_INVALID = YAPI_INVALID_DOUBLE

static const int	TCURRRUN_INVALID = YAPI_INVALID_UINT

static const int	TCURRSTOP_INVALID = YAPI_INVALID_UINT

Static Public Attributes inherited from YFunction
static const string	ADVERTISEDVALUE_INVALID = YAPI_INVALID_STRING

static const string	FRIENDLYNAME_INVALID = YAPI_INVALID_STRING

static const YFUN_DESCR	FUNCTIONDESCRIPTOR_INVALID = Y_FUNCTIONDESCRIPTOR_INVALID

static const string	FUNCTIONID_INVALID = YAPI_INVALID_STRING

static const string	HARDWAREID_INVALID = YAPI_INVALID_STRING

static const string	LOGICALNAME_INVALID = YAPI_INVALID_STRING

Protected Member Functions
virtual int	_parseAttr (YJSONObject *json_val)

	YStepperMotor (const string &func)

Protected Member Functions inherited from YFunction
YRETCODE	_buildSetRequest (const string &changeattr, const string *changeval, string &request, string &errmsg)

string	_escapeAttr (const string &changeval)

YRETCODE	_getDescriptor (YFUN_DESCR &fundescr, string &errMsg)

YRETCODE	_getDevice (YDevice *&dev, string &errMsg)

YRETCODE	_load_unsafe (int msValidity)

YRETCODE	_nextFunction (string &hwId)

int	_parse (YJSONObject *j)

YRETCODE	_setAttr (string attrname, string newvalue)

	YFunction (const string &func)

Protected Attributes
string	_alertMode

string	_auxMode

int	_auxSignal

string	_command

int	_diags

double	_maxAccel

double	_maxSpeed

Y_MOTORSTATE_enum	_motorState

int	_overcurrent

double	_pullinSpeed

double	_speed

Y_STEPPING_enum	_stepping

double	_stepPos

int	_tCurrRun

int	_tCurrStop

YStepperMotorValueCallback	_valueCallbackStepperMotor

Protected Attributes inherited from YFunction
string	_advertisedValue

u64	_cacheExpiration

string	_className

std::map< string, YDataStream * >	_dataStreams

string	_func

YFUN_DESCR	_fundescr

string	_funId

string	_hwId

string	_lastErrorMsg

YRETCODE	_lastErrorType

string	_logicalName

string	_serial

yCRITICAL_SECTION	_this_cs

void *	_userData

YFunctionValueCallback	_valueCallbackFunction

Friends
YStepperMotor *	yFindStepperMotor (const string &func)

YStepperMotor *	yFirstStepperMotor (void)

Additional Inherited Members
Static Protected Member Functions inherited from YFunction
static void	_AddToCache (const string &classname, const string &func, YFunction *obj)

static YFunction *	_FindFromCache (const string &classname, const string &func)

static void	_UpdateTimedReportCallbackList (YFunction *func, bool add)

static void	_UpdateValueCallbackList (YFunction *func, bool add)

Static Protected Attributes inherited from YFunction
static std::map< string, YFunction * >	_cache

Detailed Description

YStepperMotor Class: StepperMotor function interface

The Yoctopuce application programming interface allows you to drive a stepper motor.

Definition at line 99 of file yocto_steppermotor.h.

Constructor & Destructor Documentation

YStepperMotor::YStepperMotor ( const string & func )

protected

Definition at line 51 of file yocto_steppermotor.cpp.

YStepperMotor::~YStepperMotor ( )

Definition at line 74 of file yocto_steppermotor.cpp.

Member Function Documentation

int YStepperMotor::_invokeValueCallback ( string value )

virtual

Reimplemented from YFunction.

Definition at line 922 of file yocto_steppermotor.cpp.

int YStepperMotor::_parseAttr ( YJSONObject * json_val )

protectedvirtual

Reimplemented from YFunction.

Definition at line 90 of file yocto_steppermotor.cpp.

int YStepperMotor::abortAndBrake ( void )

virtual

Stops the motor smoothly as soon as possible, without waiting for ongoing move completion.

Returns: YAPI_SUCCESS if the call succeeds. On failure, throws an exception or returns a negative error code.

Definition at line 1108 of file yocto_steppermotor.cpp.

int YStepperMotor::abortAndHiZ ( void )

virtual

Turn the controller into Hi-Z mode immediately, without waiting for ongoing move completion.

Returns: YAPI_SUCCESS if the call succeeds. On failure, throws an exception or returns a negative error code.

Definition at line 1119 of file yocto_steppermotor.cpp.

string YStepperMotor::alertMode ( void )

inline

Definition at line 418 of file yocto_steppermotor.h.

int YStepperMotor::alertStepDir ( int dir )

virtual

Move one single step in the selected direction without regards to end switches. The move occures even if the system is still in alert mode (end switch depressed). Caution. use this function with great care as it may cause mechanical damages !

Parameters

dir	: Value +1 ou -1, according to the desired direction of the move

Returns: YAPI_SUCCESS if the call succeeds. On failure, throws an exception or returns a negative error code.

Definition at line 1090 of file yocto_steppermotor.cpp.

int YStepperMotor::alertStepOut ( void )

virtual

Move one step in the direction opposite the direction set when the most recent alert was raised. The move occures even if the system is still in alert mode (end switch depressed). Caution. use this function with great care as it may cause mechanical damages !

Returns: YAPI_SUCCESS if the call succeeds. On failure, throws an exception or returns a negative error code.

Definition at line 1075 of file yocto_steppermotor.cpp.

string YStepperMotor::auxMode ( void )

inline

Definition at line 427 of file yocto_steppermotor.h.

int YStepperMotor::auxSignal ( void )

inline

Definition at line 443 of file yocto_steppermotor.h.

int YStepperMotor::changeSpeed ( double speed )

virtual

Starts the motor at a given speed. The time needed to reach the requested speed will depend on the acceleration parameters configured for the motor.

Parameters

speed : desired speed, in steps per second. The minimal non-zero speed is 0.001 pulse per second.

Returns: YAPI_SUCCESS if the call succeeds. On failure, throws an exception or returns a negative error code.

Definition at line 992 of file yocto_steppermotor.cpp.

string YStepperMotor::command ( void )

inline

Definition at line 462 of file yocto_steppermotor.h.

int YStepperMotor::diags ( void )

inline

Definition at line 187 of file yocto_steppermotor.h.

int YStepperMotor::emergencyStop ( void )

virtual

Stops the motor with an emergency alert, without taking any additional precaution.

Returns: YAPI_SUCCESS if the call succeeds. On failure, throws an exception or returns a negative error code.

Definition at line 1062 of file yocto_steppermotor.cpp.

static YStepperMotor* YStepperMotor::Find ( string func )

inlinestatic

Definition at line 640 of file yocto_steppermotor.h.

int YStepperMotor::findHomePosition ( double speed )

virtual

Starts the motor backward at the specified speed, to search for the motor home position.

Parameters

speed : desired speed, in steps per second.

Returns: YAPI_SUCCESS if the call succeeds. On failure, throws an exception or returns a negative error code.

Definition at line 977 of file yocto_steppermotor.cpp.

YStepperMotor * YStepperMotor::FindStepperMotor ( string func )

static

Retrieves a stepper motor for a given identifier. The identifier can be specified using several formats:

FunctionLogicalName
ModuleSerialNumber.FunctionIdentifier
ModuleSerialNumber.FunctionLogicalName
ModuleLogicalName.FunctionIdentifier
ModuleLogicalName.FunctionLogicalName

This function does not require that the stepper motor is online at the time it is invoked. The returned object is nevertheless valid. Use the method YStepperMotor.isOnline() to test if the stepper motor is indeed online at a given time. In case of ambiguity when looking for a stepper motor by logical name, no error is notified: the first instance found is returned. The search is performed first by hardware name, then by logical name.

If a call to this object's is_online() method returns FALSE although you are certain that the matching device is plugged, make sure that you did call registerHub() at application initialization time.

Parameters

func	: a string that uniquely characterizes the stepper motor

Returns: a YStepperMotor object allowing you to drive the stepper motor.

Definition at line 871 of file yocto_steppermotor.cpp.

static YStepperMotor* YStepperMotor::First ( void )

inlinestatic

Definition at line 664 of file yocto_steppermotor.h.

YStepperMotor * YStepperMotor::FirstStepperMotor ( void )

static

Starts the enumeration of stepper motors currently accessible. Use the method YStepperMotor.nextStepperMotor() to iterate on next stepper motors.

Returns: a pointer to a YStepperMotor object, corresponding to the first stepper motor currently online, or a NULL pointer if there are none.

Definition at line 1134 of file yocto_steppermotor.cpp.

string YStepperMotor::get_alertMode ( void )

Definition at line 675 of file yocto_steppermotor.cpp.

string YStepperMotor::get_auxMode ( void )

Definition at line 713 of file yocto_steppermotor.cpp.

int YStepperMotor::get_auxSignal ( void )

Returns the current value of the signal generated on the auxiliary output.

Returns: an integer corresponding to the current value of the signal generated on the auxiliary output

On failure, throws an exception or returns Y_AUXSIGNAL_INVALID.

Definition at line 758 of file yocto_steppermotor.cpp.

string YStepperMotor::get_command ( void )

Definition at line 806 of file yocto_steppermotor.cpp.

int YStepperMotor::get_diags ( void )

Returns the stepper motor controller diagnostics, as a bitmap.

Returns: an integer corresponding to the stepper motor controller diagnostics, as a bitmap

On failure, throws an exception or returns Y_DIAGS_INVALID.

Definition at line 178 of file yocto_steppermotor.cpp.

double YStepperMotor::get_maxAccel ( void )

Returns the maximal motor acceleration, measured in steps per second^2.

Returns: a floating point number corresponding to the maximal motor acceleration, measured in steps per second^2

On failure, throws an exception or returns Y_MAXACCEL_INVALID.

Definition at line 379 of file yocto_steppermotor.cpp.

double YStepperMotor::get_maxSpeed ( void )

Returns the maximal motor speed, measured in steps per second.

Returns: a floating point number corresponding to the maximal motor speed, measured in steps per second

On failure, throws an exception or returns Y_MAXSPEED_INVALID.

Definition at line 433 of file yocto_steppermotor.cpp.

Y_MOTORSTATE_enum YStepperMotor::get_motorState ( void )

Returns the motor working state.

Returns: a value among Y_MOTORSTATE_ABSENT, Y_MOTORSTATE_ALERT, Y_MOTORSTATE_HI_Z, Y_MOTORSTATE_STOP, Y_MOTORSTATE_RUN and Y_MOTORSTATE_BATCH corresponding to the motor working state

On failure, throws an exception or returns Y_MOTORSTATE_INVALID.

Definition at line 149 of file yocto_steppermotor.cpp.

int YStepperMotor::get_overcurrent ( void )

Returns the overcurrent alert and emergency stop threshold, measured in mA.

Returns: an integer corresponding to the overcurrent alert and emergency stop threshold, measured in mA

On failure, throws an exception or returns Y_OVERCURRENT_INVALID.

Definition at line 518 of file yocto_steppermotor.cpp.

double YStepperMotor::get_pullinSpeed ( void )

Returns the motor speed immediately reachable from stop state, measured in steps per second.

Returns: a floating point number corresponding to the motor speed immediately reachable from stop state, measured in steps per second

On failure, throws an exception or returns Y_PULLINSPEED_INVALID.

Definition at line 324 of file yocto_steppermotor.cpp.

double YStepperMotor::get_speed ( void )

Returns current motor speed, measured in steps per second. To change speed, use method changeSpeed().

Returns: a floating point number corresponding to current motor speed, measured in steps per second

On failure, throws an exception or returns Y_SPEED_INVALID.

Definition at line 268 of file yocto_steppermotor.cpp.

Y_STEPPING_enum YStepperMotor::get_stepping ( void )

Returns the stepping mode used to drive the motor.

Returns: a value among Y_STEPPING_MICROSTEP16, Y_STEPPING_MICROSTEP8, Y_STEPPING_MICROSTEP4, Y_STEPPING_HALFSTEP and Y_STEPPING_FULLSTEP corresponding to the stepping mode used to drive the motor

On failure, throws an exception or returns Y_STEPPING_INVALID.

Definition at line 463 of file yocto_steppermotor.cpp.

double YStepperMotor::get_stepPos ( void )

Returns the current logical motor position, measured in steps. The value may include a fractional part when micro-stepping is in use.

Returns: a floating point number corresponding to the current logical motor position, measured in steps

On failure, throws an exception or returns Y_STEPPOS_INVALID.

Definition at line 238 of file yocto_steppermotor.cpp.

int YStepperMotor::get_tCurrRun ( void )

Returns the torque regulation current when the motor is running, measured in mA.

Returns: an integer corresponding to the torque regulation current when the motor is running, measured in mA

On failure, throws an exception or returns Y_TCURRRUN_INVALID.

Definition at line 627 of file yocto_steppermotor.cpp.

int YStepperMotor::get_tCurrStop ( void )

Returns the torque regulation current when the motor is stopped, measured in mA.

Returns: an integer corresponding to the torque regulation current when the motor is stopped, measured in mA

On failure, throws an exception or returns Y_TCURRSTOP_INVALID.

Definition at line 572 of file yocto_steppermotor.cpp.

double YStepperMotor::maxAccel ( void )

inline

Definition at line 284 of file yocto_steppermotor.h.

double YStepperMotor::maxSpeed ( void )

inline

Definition at line 309 of file yocto_steppermotor.h.

Y_MOTORSTATE_enum YStepperMotor::motorState ( void )

inline

Definition at line 175 of file yocto_steppermotor.h.

int YStepperMotor::moveRel ( double relPos )

virtual

Starts the motor to reach a given relative position. The time needed to reach the requested position will depend on the acceleration and max speed parameters configured for the motor.

Parameters

relPos : relative position, measured in steps from the current position.

Returns: YAPI_SUCCESS if the call succeeds. On failure, throws an exception or returns a negative error code.

Definition at line 1022 of file yocto_steppermotor.cpp.

int YStepperMotor::moveRelSlow	(	double	relPos,
		double	maxSpeed
	)

virtual

Starts the motor to reach a given relative position, keeping the speed under the specified limit. The time needed to reach the requested position will depend on the acceleration parameters configured for the motor.

Parameters

relPos	: relative position, measured in steps from the current position.
maxSpeed	: limit speed, in steps per second.

Returns: YAPI_SUCCESS if the call succeeds. On failure, throws an exception or returns a negative error code.

Definition at line 1038 of file yocto_steppermotor.cpp.

int YStepperMotor::moveTo ( double absPos )

virtual

Starts the motor to reach a given absolute position. The time needed to reach the requested position will depend on the acceleration and max speed parameters configured for the motor.

Parameters

absPos : absolute position, measured in steps from the origin.

Returns: YAPI_SUCCESS if the call succeeds. On failure, throws an exception or returns a negative error code.

Definition at line 1007 of file yocto_steppermotor.cpp.

YStepperMotor* YStepperMotor::next ( void )

inline

Definition at line 651 of file yocto_steppermotor.h.

YStepperMotor * YStepperMotor::nextStepperMotor ( void )

Continues the enumeration of stepper motors started using yFirstStepperMotor().

Returns: a pointer to a YStepperMotor object, corresponding to a stepper motor currently online, or a NULL pointer if there are no more stepper motors to enumerate.

Definition at line 1124 of file yocto_steppermotor.cpp.

int YStepperMotor::overcurrent ( void )

inline

Definition at line 348 of file yocto_steppermotor.h.

int YStepperMotor::pause ( int waitMs )

virtual

Keep the motor in the same state for the specified amount of time, before processing next command.

Parameters

waitMs : wait time, specified in milliseconds.

Returns: YAPI_SUCCESS if the call succeeds. On failure, throws an exception or returns a negative error code.

Definition at line 1051 of file yocto_steppermotor.cpp.

double YStepperMotor::pullinSpeed ( void )

inline

Definition at line 258 of file yocto_steppermotor.h.

int YStepperMotor::registerValueCallback ( YStepperMotorValueCallback callback )

virtual

Registers the callback function that is invoked on every change of advertised value. The callback is invoked only during the execution of ySleep or yHandleEvents. This provides control over the time when the callback is triggered. For good responsiveness, remember to call one of these two functions periodically. To unregister a callback, pass a NULL pointer as argument.

Parameters

callback : the callback function to call, or a NULL pointer. The callback function should take two arguments: the function object of which the value has changed, and the character string describing the new advertised value.

Definition at line 903 of file yocto_steppermotor.cpp.

int YStepperMotor::reset ( void )

virtual

Reinitialize the controller and clear all alert flags.

Returns: YAPI_SUCCESS if the call succeeds. On failure, throws an exception or returns a negative error code.

Definition at line 964 of file yocto_steppermotor.cpp.

int YStepperMotor::sendCommand ( string command )

virtual

Definition at line 932 of file yocto_steppermotor.cpp.

int YStepperMotor::set_alertMode ( const string & newval )

Definition at line 697 of file yocto_steppermotor.cpp.

int YStepperMotor::set_auxMode ( const string & newval )

Definition at line 735 of file yocto_steppermotor.cpp.

int YStepperMotor::set_auxSignal ( int newval )

Changes the value of the signal generated on the auxiliary output. Acceptable values depend on the auxiliary output signal type configured.

Parameters

newval : an integer corresponding to the value of the signal generated on the auxiliary output

Returns: YAPI_SUCCESS if the call succeeds.

On failure, throws an exception or returns a negative error code.

Definition at line 790 of file yocto_steppermotor.cpp.

int YStepperMotor::set_command ( const string & newval )

Definition at line 828 of file yocto_steppermotor.cpp.

int YStepperMotor::set_maxAccel ( double newval )

Changes the maximal motor acceleration, measured in steps per second^2.

Parameters

newval : a floating point number corresponding to the maximal motor acceleration, measured in steps per second^2

Returns: YAPI_SUCCESS if the call succeeds.

On failure, throws an exception or returns a negative error code.

Definition at line 356 of file yocto_steppermotor.cpp.

int YStepperMotor::set_maxSpeed ( double newval )

Changes the maximal motor speed, measured in steps per second.

Parameters

newval : a floating point number corresponding to the maximal motor speed, measured in steps per second

Returns: YAPI_SUCCESS if the call succeeds.

On failure, throws an exception or returns a negative error code.

Definition at line 410 of file yocto_steppermotor.cpp.

int YStepperMotor::set_overcurrent ( int newval )

Changes the overcurrent alert and emergency stop threshold, measured in mA.

Parameters

newval : an integer corresponding to the overcurrent alert and emergency stop threshold, measured in mA

Returns: YAPI_SUCCESS if the call succeeds.

On failure, throws an exception or returns a negative error code.

Definition at line 549 of file yocto_steppermotor.cpp.

int YStepperMotor::set_pullinSpeed ( double newval )

Changes the motor speed immediately reachable from stop state, measured in steps per second.

Parameters

newval : a floating point number corresponding to the motor speed immediately reachable from stop state, measured in steps per second

Returns: YAPI_SUCCESS if the call succeeds.

On failure, throws an exception or returns a negative error code.

Definition at line 300 of file yocto_steppermotor.cpp.

int YStepperMotor::set_stepping ( Y_STEPPING_enum newval )

Changes the stepping mode used to drive the motor.

Parameters

newval : a value among Y_STEPPING_MICROSTEP16, Y_STEPPING_MICROSTEP8, Y_STEPPING_MICROSTEP4, Y_STEPPING_HALFSTEP and Y_STEPPING_FULLSTEP corresponding to the stepping mode used to drive the motor

Returns: YAPI_SUCCESS if the call succeeds.

On failure, throws an exception or returns a negative error code.

Definition at line 495 of file yocto_steppermotor.cpp.

int YStepperMotor::set_stepPos ( double newval )

Changes the current logical motor position, measured in steps. This command does not cause any motor move, as its purpose is only to setup the origin of the position counter. The fractional part of the position, that corresponds to the physical position of the rotor, is not changed. To trigger a motor move, use methods moveTo() or moveRel() instead.

Parameters

newval : a floating point number corresponding to the current logical motor position, measured in steps

Returns: YAPI_SUCCESS if the call succeeds.

On failure, throws an exception or returns a negative error code.

Definition at line 214 of file yocto_steppermotor.cpp.

int YStepperMotor::set_tCurrRun ( int newval )

Changes the torque regulation current when the motor is running, measured in mA.

Parameters

newval : an integer corresponding to the torque regulation current when the motor is running, measured in mA

Returns: YAPI_SUCCESS if the call succeeds.

On failure, throws an exception or returns a negative error code.

Definition at line 659 of file yocto_steppermotor.cpp.

int YStepperMotor::set_tCurrStop ( int newval )

Changes the torque regulation current when the motor is stopped, measured in mA.

Parameters

newval : an integer corresponding to the torque regulation current when the motor is stopped, measured in mA

Returns: YAPI_SUCCESS if the call succeeds.

On failure, throws an exception or returns a negative error code.

Definition at line 604 of file yocto_steppermotor.cpp.

int YStepperMotor::setAlertMode ( const string & newval )

inline

Definition at line 422 of file yocto_steppermotor.h.

int YStepperMotor::setAuxMode ( const string & newval )

inline

Definition at line 431 of file yocto_steppermotor.h.

int YStepperMotor::setAuxSignal ( int newval )

inline

Definition at line 457 of file yocto_steppermotor.h.

int YStepperMotor::setCommand ( const string & newval )

inline

Definition at line 466 of file yocto_steppermotor.h.

int YStepperMotor::setMaxAccel ( double newval )

inline

Definition at line 272 of file yocto_steppermotor.h.

int YStepperMotor::setMaxSpeed ( double newval )

inline

Definition at line 297 of file yocto_steppermotor.h.

int YStepperMotor::setOvercurrent ( int newval )

inline

Definition at line 361 of file yocto_steppermotor.h.

int YStepperMotor::setPullinSpeed ( double newval )

inline

Definition at line 245 of file yocto_steppermotor.h.

int YStepperMotor::setStepping ( Y_STEPPING_enum newval )

inline

Definition at line 336 of file yocto_steppermotor.h.

int YStepperMotor::setStepPos ( double newval )

inline

Definition at line 205 of file yocto_steppermotor.h.

int YStepperMotor::setTCurrRun ( int newval )

inline

Definition at line 413 of file yocto_steppermotor.h.

int YStepperMotor::setTCurrStop ( int newval )

inline

Definition at line 387 of file yocto_steppermotor.h.

double YStepperMotor::speed ( void )

inline

Definition at line 231 of file yocto_steppermotor.h.

Y_STEPPING_enum YStepperMotor::stepping ( void )

inline

Definition at line 322 of file yocto_steppermotor.h.

double YStepperMotor::stepPos ( void )

inline

Definition at line 218 of file yocto_steppermotor.h.

int YStepperMotor::tCurrRun ( void )

inline

Definition at line 399 of file yocto_steppermotor.h.

int YStepperMotor::tCurrStop ( void )

inline

Definition at line 373 of file yocto_steppermotor.h.

Friends And Related Function Documentation

YStepperMotor* yFindStepperMotor ( const string & func )

friend

Retrieves a stepper motor for a given identifier. The identifier can be specified using several formats:

FunctionLogicalName
ModuleSerialNumber.FunctionIdentifier
ModuleSerialNumber.FunctionLogicalName
ModuleLogicalName.FunctionIdentifier
ModuleLogicalName.FunctionLogicalName

This function does not require that the stepper motor is online at the time it is invoked. The returned object is nevertheless valid. Use the method YStepperMotor.isOnline() to test if the stepper motor is indeed online at a given time. In case of ambiguity when looking for a stepper motor by logical name, no error is notified: the first instance found is returned. The search is performed first by hardware name, then by logical name.

If a call to this object's is_online() method returns FALSE although you are certain that the matching device is plugged, make sure that you did call registerHub() at application initialization time.

Parameters

func	: a string that uniquely characterizes the stepper motor

Returns: a YStepperMotor object allowing you to drive the stepper motor.

Definition at line 701 of file yocto_steppermotor.h.

YStepperMotor* yFirstStepperMotor ( void )

friend

Starts the enumeration of stepper motors currently accessible. Use the method YStepperMotor.nextStepperMotor() to iterate on next stepper motors.

Returns: a pointer to a YStepperMotor object, corresponding to the first stepper motor currently online, or a NULL pointer if there are none.

Definition at line 712 of file yocto_steppermotor.h.

Member Data Documentation

string YStepperMotor::_alertMode

protected

Definition at line 118 of file yocto_steppermotor.h.

string YStepperMotor::_auxMode

protected

Definition at line 119 of file yocto_steppermotor.h.

int YStepperMotor::_auxSignal

protected

Definition at line 120 of file yocto_steppermotor.h.

string YStepperMotor::_command

protected

Definition at line 121 of file yocto_steppermotor.h.

int YStepperMotor::_diags

protected

Definition at line 108 of file yocto_steppermotor.h.

double YStepperMotor::_maxAccel

protected

Definition at line 112 of file yocto_steppermotor.h.

double YStepperMotor::_maxSpeed

protected

Definition at line 113 of file yocto_steppermotor.h.

Y_MOTORSTATE_enum YStepperMotor::_motorState

protected

Definition at line 107 of file yocto_steppermotor.h.

int YStepperMotor::_overcurrent

protected

Definition at line 115 of file yocto_steppermotor.h.

double YStepperMotor::_pullinSpeed

protected

Definition at line 111 of file yocto_steppermotor.h.

double YStepperMotor::_speed

protected

Definition at line 110 of file yocto_steppermotor.h.

Y_STEPPING_enum YStepperMotor::_stepping

protected

Definition at line 114 of file yocto_steppermotor.h.

double YStepperMotor::_stepPos

protected

Definition at line 109 of file yocto_steppermotor.h.

int YStepperMotor::_tCurrRun

protected

Definition at line 117 of file yocto_steppermotor.h.

int YStepperMotor::_tCurrStop

protected

Definition at line 116 of file yocto_steppermotor.h.

YStepperMotorValueCallback YStepperMotor::_valueCallbackStepperMotor

protected

Definition at line 122 of file yocto_steppermotor.h.

const string YStepperMotor::ALERTMODE_INVALID = YAPI_INVALID_STRING

static

Definition at line 160 of file yocto_steppermotor.h.

const string YStepperMotor::AUXMODE_INVALID = YAPI_INVALID_STRING

static

Definition at line 161 of file yocto_steppermotor.h.

const int YStepperMotor::AUXSIGNAL_INVALID = YAPI_INVALID_INT

static

Definition at line 162 of file yocto_steppermotor.h.

const string YStepperMotor::COMMAND_INVALID = YAPI_INVALID_STRING

static

Definition at line 163 of file yocto_steppermotor.h.

const int YStepperMotor::DIAGS_INVALID = YAPI_INVALID_UINT

static

Definition at line 145 of file yocto_steppermotor.h.

const double YStepperMotor::MAXACCEL_INVALID = YAPI_INVALID_DOUBLE

static

Definition at line 149 of file yocto_steppermotor.h.

const double YStepperMotor::MAXSPEED_INVALID = YAPI_INVALID_DOUBLE

static

Definition at line 150 of file yocto_steppermotor.h.

const Y_MOTORSTATE_enum YStepperMotor::MOTORSTATE_ABSENT = Y_MOTORSTATE_ABSENT

static

Definition at line 138 of file yocto_steppermotor.h.

const Y_MOTORSTATE_enum YStepperMotor::MOTORSTATE_ALERT = Y_MOTORSTATE_ALERT

static

Definition at line 139 of file yocto_steppermotor.h.

const Y_MOTORSTATE_enum YStepperMotor::MOTORSTATE_BATCH = Y_MOTORSTATE_BATCH

static

Definition at line 143 of file yocto_steppermotor.h.

const Y_MOTORSTATE_enum YStepperMotor::MOTORSTATE_HI_Z = Y_MOTORSTATE_HI_Z

static

Definition at line 140 of file yocto_steppermotor.h.

const Y_MOTORSTATE_enum YStepperMotor::MOTORSTATE_INVALID = Y_MOTORSTATE_INVALID

static

Definition at line 144 of file yocto_steppermotor.h.

const Y_MOTORSTATE_enum YStepperMotor::MOTORSTATE_RUN = Y_MOTORSTATE_RUN

static

Definition at line 142 of file yocto_steppermotor.h.

const Y_MOTORSTATE_enum YStepperMotor::MOTORSTATE_STOP = Y_MOTORSTATE_STOP

static

Definition at line 141 of file yocto_steppermotor.h.

const int YStepperMotor::OVERCURRENT_INVALID = YAPI_INVALID_UINT

static

Definition at line 157 of file yocto_steppermotor.h.

const double YStepperMotor::PULLINSPEED_INVALID = YAPI_INVALID_DOUBLE

static

Definition at line 148 of file yocto_steppermotor.h.

const double YStepperMotor::SPEED_INVALID = YAPI_INVALID_DOUBLE

static

Definition at line 147 of file yocto_steppermotor.h.

const Y_STEPPING_enum YStepperMotor::STEPPING_FULLSTEP = Y_STEPPING_FULLSTEP

static

Definition at line 155 of file yocto_steppermotor.h.

const Y_STEPPING_enum YStepperMotor::STEPPING_HALFSTEP = Y_STEPPING_HALFSTEP

static

Definition at line 154 of file yocto_steppermotor.h.

const Y_STEPPING_enum YStepperMotor::STEPPING_INVALID = Y_STEPPING_INVALID

static

Definition at line 156 of file yocto_steppermotor.h.

const Y_STEPPING_enum YStepperMotor::STEPPING_MICROSTEP16 = Y_STEPPING_MICROSTEP16

static

Definition at line 151 of file yocto_steppermotor.h.

const Y_STEPPING_enum YStepperMotor::STEPPING_MICROSTEP4 = Y_STEPPING_MICROSTEP4

static

Definition at line 153 of file yocto_steppermotor.h.

const Y_STEPPING_enum YStepperMotor::STEPPING_MICROSTEP8 = Y_STEPPING_MICROSTEP8

static

Definition at line 152 of file yocto_steppermotor.h.

const double YStepperMotor::STEPPOS_INVALID = YAPI_INVALID_DOUBLE

static

Definition at line 146 of file yocto_steppermotor.h.

const int YStepperMotor::TCURRRUN_INVALID = YAPI_INVALID_UINT

static

Definition at line 159 of file yocto_steppermotor.h.

const int YStepperMotor::TCURRSTOP_INVALID = YAPI_INVALID_UINT

static

Definition at line 158 of file yocto_steppermotor.h.

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

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation