Class StepMotorComponent


  • public class StepMotorComponent
    extends Component
    Implementation of the CrowPi Step Motor using GPIO with Pi4J
    • Field Summary

    • Constructor Summary

      Constructors 
      Constructor Description
      StepMotorComponent​(com.pi4j.context.Context pi4j)
      Creates a new step motor component with the default pins, steps and pulse duration.
      StepMotorComponent​(com.pi4j.context.Context pi4j, int[] addresses, int[][] steps, long pulseMilliseconds)
      Creates a new step motor component with custom pins, steps and pulse duration.
    • Constructor Detail

      • StepMotorComponent

        public StepMotorComponent​(com.pi4j.context.Context pi4j)
        Creates a new step motor component with the default pins, steps and pulse duration.
        Parameters:
        pi4j - Pi4J context
      • StepMotorComponent

        public StepMotorComponent​(com.pi4j.context.Context pi4j,
                                  int[] addresses,
                                  int[][] steps,
                                  long pulseMilliseconds)
        Creates a new step motor component with custom pins, steps and pulse duration.

        The first dimension of steps represents the various steps which are to be executed in order. The second dimension of steps represents which output(s) should be pulsed for the current step. Please note that the second dimension does not store the pin addresses but the index within addresses.

        Parameters:
        pi4j - Pi4J context
        addresses - Array of BCM pin addresses to be driven during steps
        steps - Two-dimensional array containing steps with their associated pins
        pulseMilliseconds - Duration in milliseconds for pulses
    • Method Detail

      • turnDegrees

        public void turnDegrees​(int degrees)
        Turns the step motor by the given amount of degrees. If a negative value is specified, the motor will automatically turn backward.
        Parameters:
        degrees - Number of degrees to turn for- or backward
      • turnForward

        public void turnForward​(int steps)
        Turns the step motor forward for the given amount of steps.
        Parameters:
        steps - Steps to turn forward
      • turnBackward

        public void turnBackward​(int steps)
        Turns the step motor backward for the given amount of steps.
        Parameters:
        steps - Steps to turn backward
      • getDigitalOutputs

        protected com.pi4j.io.gpio.digital.DigitalOutput[] getDigitalOutputs()
        Returns an array of all initialized digital outputs for this component
        Returns:
        Digital output instances
      • buildDigitalOutputConfig

        protected com.pi4j.io.gpio.digital.DigitalOutputConfig buildDigitalOutputConfig​(com.pi4j.context.Context pi4j,
                                                                                        int address)
        Builds a new digital output configuration for the GPIO step motor pin
        Parameters:
        pi4j - Pi4J context
        address - BCM address
        Returns:
        Digital output configuration