Struct Stepper

pub struct Stepper<M: StepperMotor, D: DelayNs> { /* private fields */ }

High-level stepper controller parameterized by a motor coil driver M and a delay D.

Implementations

impl<M: StepperMotor, D: DelayNs> Stepper<M, D>

pub fn new(number_of_steps: u32, motor: M, delay: D) -> Self

Create a new controller.

• number_of_steps: steps per mechanical revolution (as in Arduino stepper constructor)
• motor: coil driver implementing StepperMotor
• delay: timing provider implementing DelayNs

pub fn set_speed(&mut self, speed: u32)

Set speed in RPM.

Equivalent to the Arduino stepper function with the same name except the division by 0 check.

If speed or number_of_steps are 0, the speed is set to 0

pub fn deenergise(&mut self) -> Result<(), M::Error>

De-energize all coils by delegating to clear.

pub fn step(&mut self, steps_to_move: i32) -> Result<(), M::Error>

Perform a blocking move of steps_to_move steps.

Positive values step forward; negative values step backward.

Ported from Arduino stepper step function