StepperMotor

Stepper Motor is different from just rotating things like DC motors.
It rotate by following electrical pulse. So, It can rotate correctly by step.
So It is very useful when you want to move/rotate things correctly, and hold something at current state. In the other hands, Stepper Motor is not good for high-speed/high-power usages.

This library can drive both bipolar/unipolar stepper motors. This cabale to drive directy from obniz Board io. So 5v stepper motor is best.

wired(obniz, {a, b, aa, bb [, common]})

It recognize connected io.

See below image to connect.

This function recognize motor bipolar/unipolar by specifying common.

// Javascript Example
var motor = obniz.wired("StepperMotor", {a:0, aa:1, b:2, bb:3});
await motor.stepWait(100);
await motor.stepWait(200);
console.log(motor.currentStep); // => 300

stepType(type: string)

It change stepping method. By default, it is 2

// Javascript Example
var motor = obniz.wired("StepperMotor", {a:0, aa:1, b:2, bb:3});
motor.stepType('1');
await motor.stepWait(100);
await motor.stepWait(200);
console.log(motor.currentStep); // => 300

speed(frequency: number)

It specify speed in hz. 100 means 100 step per sec.

Limit of frequency is depends on motor which you are using. High frequency has risks of slips.

// Javascript Example
var motor = obniz.wired("StepperMotor", {a:0, aa:1, b:2, bb:3});
motor.speed(1000);
await motor.stepWait(100);

[await] stepWait(step: number)

It rotate a motor by specified steps.
Also it follow speed and stepType.

If decimal number was provided, then the number will be rounded.

// Javascript Example
var motor = obniz.wired("StepperMotor", {a:0, aa:1, b:2, bb:3});
await motor.stepWait(100);
await motor.stepWait(-100);
// now returned to start position.

[await] stepToWait(destination: number)

It rotate a motor to specified destionation step.
Also it follow speed and stepType.

// Javascript Example
var motor = obniz.wired("StepperMotor", {a:0, aa:1, b:2, bb:3});
await motor.stepWait(100);
await motor.stepToWait(-150); // it move -250 steps
console.log(motor.currentStep) // => -150

[await] holdWait()

Drain current to keep position.

// Javascript Example
var motor = obniz.wired("StepperMotor", {a:0, aa:1, b:2, bb:3});
await motor.holdWait();

[await] freeWait()

Stop drain current and make free a motor.

// Javascript Example
var motor = obniz.wired("StepperMotor", {a:0, aa:1, b:2, bb:3});
await motor.stepWait(100);
await motor.freeWait();

currentStep

It is current step count number. Initially 0.
When you move +100 then -50, It is 50

// Javascript Example
var motor = obniz.wired("StepperMotor", {a:0, aa:1, b:2, bb:3});
await motor.stepWait(100);
await motor.stepToWait(-150); // it move -250 steps
console.log(motor.currentStep) // => -150

[await] rotateWait(rotation: number)

It rotate by specified angle.
It also follow rotationStepCount variable. Please set correct number first.

360 measn one rotate.

// Javascript Example
var motor = obniz.wired("StepperMotor", {a:0, aa:1, b:2, bb:3});
motor.rotationStepCount = 100;
await motor.rotateWait(360 * 2);
console.log(motor.currentRotation()); // => 720
console.log(motor.currentAngle()); // => 0

[await] rotateToWait(rotation: number)

It rotate to specified angle. (Initial angle is recognized as 0).
It rotate at minimum rotation.
It also follow rotationStepCount variable. Please set correct number first.

// Javascript Example
var motor = obniz.wired("StepperMotor", {a:0, aa:1, b:2, bb:3});
motor.rotationStepCount = 100;
await motor.rotateWait(355);
await motor.rotateToWait(0); // it rotate only 5

rotationStepCount

It is configration of needed step count to one rotation.
It depends on your motor. It initially 100.

// Javascript Example
var motor = obniz.wired("StepperMotor", {a:0, aa:1, b:2, bb:3});
motor.rotationStepCount = 100;
await motor.rotateToWait(90);

[await] moveWait(distance: number)

It rotate specified distance in mm.
It also follow milliMeterStepCount variable. Please set correct number first.

// Javascript Example
var motor = obniz.wired("StepperMotor", {a:0, aa:1, b:2, bb:3});
motor.milliMeterStepCount = 10;
await motor.moveWait(100);
await motor.moveWait(-10);
console.log(motor.currentDistance()); // => 90

[await] moveToWait(destination: number)

It rotate to specified distance in mm. Initial position is recognized as 0.
It also follow milliMeterStepCount variable. Please set correct number first.

// Javascript Example
var motor = obniz.wired("StepperMotor", {a:0, aa:1, b:2, bb:3});
motor.milliMeterStepCount = 10;
await motor.moveWait(100);
await motor.moveToWait(-10);
console.log(motor.currentDistance()); // => -10

milliMeterStepCount

It is configration of needed step count to move 1 mm.
It depends on your motor. It initially 1.

// Javascript Example
var motor = obniz.wired("StepperMotor", {a:0, aa:1, b:2, bb:3});
motor.milliMeterStepCount = 10;
await motor.moveWait(100);
await motor.moveToWait(-10);
console.log(motor.currentDistance()); // => -10