stepper6

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Stepper 6 Click

Stepper 6 Click demo application is developed using the NECTO Studio, ensuring compatibility with mikroSDK's open-source libraries and tools. Designed for plug-and-play implementation and testing, the demo is fully compatible with all development, starter, and mikromedia boards featuring a mikroBUS™ socket.

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Click Library

• Author : Stefan Filipovic
• Date : Feb 2024.
• Type : I2C/SPI type

Software Support

Example Description

This example demonstrates the use of the Stepper 6 Click board by driving the motor in both directions for a desired number of steps.

Example Libraries

• MikroSDK.Board
• MikroSDK.Log
• Click.Stepper6

Example Key Functions

• stepper6_cfg_setup Config Object Initialization function.

void stepper6_cfg_setup ( stepper6_cfg_t *cfg );

• stepper6_init Initialization function.

err_t stepper6_init ( stepper6_t *ctx, stepper6_cfg_t *cfg );

• stepper6_default_cfg Click Default Configuration function.

err_t stepper6_default_cfg ( stepper6_t *ctx );

• stepper6_set_direction This function sets the motor direction by setting the DIR pin logic state.

void stepper6_set_direction ( stepper6_t *ctx, uint8_t dir );

• stepper6_set_step_mode This function sets the step mode resolution settings.

err_t stepper6_set_step_mode ( stepper6_t *ctx, uint8_t mode );

• stepper6_drive_motor This function drives the motor for the specific number of steps at the selected speed.

void stepper6_drive_motor ( stepper6_t *ctx, uint32_t steps, uint8_t speed );

Application Init

Initializes the driver and performs the Click default configuration.

void application_init ( void )
{
    log_cfg_t log_cfg;  /**< Logger config object. */
    stepper6_cfg_t stepper6_cfg;  /**< Click config object. */

    /** 
     * Logger initialization.
     * Default baud rate: 115200
     * Default log level: LOG_LEVEL_DEBUG
     * @note If USB_UART_RX and USB_UART_TX 
     * are defined as HAL_PIN_NC, you will 
     * need to define them manually for log to work. 
     * See @b LOG_MAP_USB_UART macro definition for detailed explanation.
     */
    LOG_MAP_USB_UART( log_cfg );
    log_init( &logger, &log_cfg );
    log_info( &logger, " Application Init " );

    // Click initialization.
    stepper6_cfg_setup( &stepper6_cfg );
    STEPPER6_MAP_MIKROBUS( stepper6_cfg, MIKROBUS_1 );
    err_t init_flag = stepper6_init( &stepper6, &stepper6_cfg );
    if ( ( I2C_MASTER_ERROR == init_flag ) || ( SPI_MASTER_ERROR == init_flag ) )
    {
        log_error( &logger, " Communication init." );
        for ( ; ; );
    }
    
    if ( STEPPER6_ERROR == stepper6_default_cfg ( &stepper6 ) )
    {
        log_error( &logger, " Default configuration." );
        for ( ; ; );
    }
    
    log_info( &logger, " Application Task " );
}

Application Task

Drives the motor clockwise for 200 full steps and then counter-clockiwse for 200 half steps and 400 quarter steps with 2 seconds delay on driving mode change. All data is being logged on the USB UART where you can track the program flow.

void application_task ( void )
{
    log_printf ( &logger, " Move 200 full steps clockwise, speed: slow\r\n\n" );
    stepper6_set_direction ( &stepper6, STEPPER6_DIR_CW );
    stepper6_set_step_mode ( &stepper6, STEPPER6_MODE_FULL_STEP );
    stepper6_drive_motor ( &stepper6, 200, STEPPER6_SPEED_SLOW );
    Delay_ms ( 1000 );
    Delay_ms ( 1000 );

    log_printf ( &logger, " Move 200 half steps counter-clockwise, speed: medium\r\n\n" );
    stepper6_set_direction ( &stepper6, STEPPER6_DIR_CCW );
    stepper6_set_step_mode ( &stepper6, STEPPER6_MODE_HALF_STEP );
    stepper6_drive_motor ( &stepper6, 200, STEPPER6_SPEED_MEDIUM );
    Delay_ms ( 1000 );
    Delay_ms ( 1000 );

    log_printf ( &logger, " Move 400 quarter steps counter-clockwise, speed: fast\r\n\n" );
    stepper6_set_direction ( &stepper6, STEPPER6_DIR_CCW );
    stepper6_set_step_mode ( &stepper6, STEPPER6_MODE_QUARTER_STEP );
    stepper6_drive_motor ( &stepper6, 400, STEPPER6_SPEED_FAST );
    Delay_ms ( 1000 );
    Delay_ms ( 1000 );
}

Application Output

This Click board can be interfaced and monitored in two ways:

• Application Output - Use the "Application Output" window in Debug mode for real-time data monitoring. Set it up properly by following this tutorial.
• UART Terminal - Monitor data via the UART Terminal using a USB to UART converter. For detailed instructions, check out this tutorial.

Additional Notes and Information

The complete application code and a ready-to-use project are available through the NECTO Studio Package Manager for direct installation in the NECTO Studio. The application code can also be found on the MIKROE GitHub account.

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