Crate stepper_lib

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 BCM pins 27 and 19.

Importing the library

# ...

[dependencies]
# Include the library with its standard features
stepper_lib = { version = "0.11.0", features = [ "rasp" ] } 

# ...

use core::f32::consts::PI;

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

// Pin declerations (BCM 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<(), stepper_lib::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(())
}

Re-exports

• pub use comp::SyncComp;
• pub use comp::SyncCompGroup;
• pub use comp::Tool;
• pub use comp::tool::SimpleTool;
• pub use ctrl::StepperCtrl;
• pub use data::StepperConst;

Modules

• comp
  Components including stepper motors
• ctrl
  Collection of structs and functions for controlling Stepper Motors
• data
  Structs for storing characteristics of stepper motors and devices
• math
  Functions and Structs for calculating Stepper Motor procedures and operations
• meas
  Functions and Structs for taking measurements with a robot for e.g. position calculation
• units
  Self defined units for mathematical operations

Structs

• Mat3
  A 3x3 column major matrix.
• Vec3
  A 3-dimensional vector.

Type Definitions

• Error
  The general error type used in the crate