Package com.diozero.devices.sandpit

Class SilentStepStick

java.lang.Object

com.diozero.devices.sandpit.SilentStepStick

All Implemented Interfaces:

DeviceInterface, AutoCloseable

public class SilentStepStick
extends Object
implements DeviceInterface

Stepper represents a stepper motor driven by a stepper motor controller. Originally developed for a Wetterott SilentStepStick, it should be compatible with the Wetterott StepStick and the Pololu A4988 drivers. It might be compatible with other drivers that use the following control signals: enable (low), direction, and step.

The implementation supports up to 16 micro-steps/step. Configuration of micro-stepping must be done external to the implementation.

The implementation assumes a stepper motor with 200 steps/rotation.

The enable pin turns the motor driver on and off. When disabled, the driver does not power the motor and the shaft can be moved manually. When enabled, the powers the motor and and it cannot be moved manually.

Author:

Greg Flurry

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	SilentStepStick.Direction
static class	SilentStepStick.Resolution

Constructor Summary

Constructors

Constructor	Description
SilentStepStick(int enablePin, int directionPin, int stepPin, SilentStepStick.Resolution resolution, float speed)	Constructs a new stepper motor instance.The direction defaults to clockwise.The speed defaults to 1 RPM.

Method Summary

Modifier and Type	Method	Description
void	close()	Closes the device.
SilentStepStick.Direction	getDirection()
boolean	isEnabled()
void	setDirection(SilentStepStick.Direction direction)	Sets the direction of rotation, either clockwise or counterclockwise.
void	setEnabled(boolean enabled)	Enables or disables the stepper driver.
void	setOn(boolean on)	Turns on/off the stepper motor.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

SilentStepStick

public SilentStepStick(int enablePin,
                       int directionPin,
                       int stepPin,
                       SilentStepStick.Resolution resolution,
                       float speed)
                throws RuntimeIOException

Constructs a new stepper motor instance.The direction defaults to clockwise.The speed defaults to 1 RPM.

Parameters:

enablePin - GPIO pin used to enable the driver.

directionPin - GPIO pin used to set direction of rotation (looking shaft)

stepPin - GPIO pin used to step the motor

resolution - resolution set by external configuration

speed - speed of rotation in RPM

Throws:

RuntimeIOException - if initialisation error

Method Detail

close

public void close()

Closes the device.

Specified by:

close in interface AutoCloseable

Specified by:

close in interface DeviceInterface

isEnabled

public boolean isEnabled()

setEnabled

public void setEnabled(boolean enabled)
                throws RuntimeIOException

Enables or disables the stepper driver.

When disabled, the driver does not power the motor, and thus there is no torque applied. It can be turned manually. When enabled, the driver powers the motor, and thus there is torque. It cannot be turned manually.

Parameters:

enabled - true to enable, false to disable

Throws:

RuntimeIOException - for IO errors

getDirection

public SilentStepStick.Direction getDirection()

setDirection

public void setDirection(SilentStepStick.Direction direction)
                  throws RuntimeIOException

Sets the direction of rotation, either clockwise or counterclockwise.

Parameters:

direction - the new direction

Throws:

RuntimeIOException - for IO errors

setOn

public void setOn(boolean on)
           throws RuntimeIOException

Turns on/off the stepper motor. Technically it turns on/off the step signal to the driver.

Parameters:

on - true to turn on, false to turn off

Throws:

RuntimeIOException - if an I/O error occurs when changing the PWM output device value