stepper_lib

A library for all types of components used in robots, including controlls for stepper motors, servo motors and more complex assemblies using said motors. Currently all implementations are made for the raspberry pi, though new implementations for more controllers are currently being made.

In Action

Let us assume we want to control a simple stepper motor (in this example a 17HE15_1504_S) with a PWM controller connected to the BOARD pins 27 and 19.

Importing the library

# ...

[dependencies]
# Include the library with its standard features
stepper_lib = "0.10.6"

# ...

// Include components and data
use crate::{StepperCtrl, StepperConst, SyncComp};
use crate::data::LinkedData;
// Include the unit system
use crate::units::*;

// Pin declerations (BOARD on raspberry pi)
const PIN_DIR : u8 = 27;
const PIN_STEP : u8 = 19;

// Define distance and max speed
const DELTA : Delta = Delta(2.0 * PI);
const OMEGA : Omega = Omega(10.0);

fn main() -> Result<(), crate::Error> {
    // Create the controls for a stepper motor
    let mut ctrl = StepperCtrl::new(StepperConst::MOT_17HE15_1504S, PIN_DIR, PIN_STEP);
    // Link the component to a system
    ctrl.write_link(LinkedData { 
        u: 12.0,    // System voltage in volts
        s_f: 1.5    // System safety factor, should be at least 1.0
    }); 

    // Apply some loads
    ctrl.apply_inertia(Inertia(0.2));
    ctrl.apply_force(Force(0.10));

    println!("Staring to move");
    ctrl.drive_rel(DELTA, OMEGA)?;      // Move the motor
    println!("Distance {}rad with max speed {:?}rad/s done", DELTA, OMEGA);

    Ok(())
}