Class Stepper

Defined in File stepper.hpp

Class Documentation

class Stepper

Public Functions

explicit Stepper(int32_t serial_number, int hub_port, bool is_hub_port_device, int channel, std::function<void(int, double)> on_position_change_handler, std::function<void(int, double)> on_velocity_change_handler, std::function<void(int)> on_stoppped_handler)

~Stepper()

int32_t getSerialNumber() const noexcept

PhidgetStepper_ControlMode getControlMode() const

void setControlMode(PhidgetStepper_ControlMode controlMode)

void enableFailsafe(uint32_t failsafeTime)

void resetFailesafe()

uint32_t getMinFailsafeTime() const

uint32_t getMaxFailsafeTime() const

int getIsMoving() const

int getEngaged() const

void setEngaged(int engaged)

void addPositionOffset(double offset)

double getPosition() const

double getMinPosition() const

double getMaxPosition() const

double getTargetPosition() const

void setTargetPosition(double position)

double getVelocity() const

double getVelocityLimit() const

void setVelocityLimit(double velocity)

double getMinVelocityLimit() const

double getMaxVelocityLimit() const

double getAcceleration() const

void setAcceleration(double acceleration)

double getCurrentLimit() const

void setCurrentLimit(double current_limit)

double getHoldingCurrentLimit() const

void setHoldingCurrentLimit(double holding_current_limit)

double getMinAcceleration() const

double getMaxAcceleration() const

double getMinCurrentLimit() const

double getMaxCurrentLimit() const

void setRescaleFactor(double factor)

double getRescaleFactor() const

void setDataInterval(uint32_t data_interval_ms)

uint32_t getDataInterval() const

uint32_t getMinDataInterval() const

uint32_t getMaxDataInterval() const

void setDataRate(double data_rate)

double getDataRate() const

double getMinDataRate() const

double getMaxDataRate() const