通过 getState() 函数可确认步进电机的动作状态。
state = step.getState()
此函数返还步进电机动作状态的代码。返还的动作状态的种类如下。
返还值 | 状态 |
---|---|
0 | stopped |
1 | control locked |
otherwise | running |
#include <PhpocExpansion.h>
#include <Phpoc.h>
byte spcId = 1;
ExpansionStepper step(spcId);
int state;
void setup() {
Serial.begin(9600);
while(!Serial)
;
Phpoc.begin(PF_LOG_SPI | PF_LOG_NET);
Expansion.begin();
Serial.println(step.getPID());
Serial.println(step.getName());
step.setMode(4);
step.setVrefStop(2);
step.setVrefDrive(8);
step.setResonance(120, 250);
step.setSpeed(400);
step.setAccel(800);
step.stepGoto(400);
while(state = step.getState()) {
Serial.print("state: ");
Serial.println(state);
delay(200);
}
Serial.print("state: ");
Serial.println(state);
}
void loop() {
}
state: 2
state: 2
state: 2
state: 2
state: 2
state: 2
state: 2
state: 0
通过 getPosition() 函数可确认当前计数位置。
pos = step.getPosition()
此函数返还步进电机的当前计数位置。
#include <PhpocExpansion.h>
#include <Phpoc.h>
byte spcId = 1;
ExpansionStepper step(spcId);
int pos = -400;
void setup() {
Serial.begin(9600);
while(!Serial)
;
Phpoc.begin(PF_LOG_SPI | PF_LOG_NET);
Expansion.begin();
Serial.println(step.getPID());
Serial.println(step.getName());
step.setMode(4);
step.setVrefStop(2);
step.setVrefDrive(8);
step.setResonance(120, 250);
step.setSpeed(400);
step.setAccel(800);
step.setPosition(pos);
step.stepGoto(400);
while(step.getState()) {
pos = step.getPosition();
Serial.print("position: ");
Serial.println(pos);
delay(200);
}
}
void loop() {
}
position: -400
position: -369
position: -302
position: -214
position: -126
position: -39
position: 48
position: 135
position: 223
position: 310
position: 375
position: 400
通过 getEio() 函数可确认数字输入端口的当前状态。
state = step.getEio(id)
返还的输入端口的状态种类如下。
返还值 | 状态 |
---|---|
0 | LOW |
1 | HIGH (default) |
#include <PhpocExpansion.h>
#include <Phpoc.h>
byte spcId = 1;
ExpansionStepper step(spcId);
void setup() {
Serial.begin(9600);
while(!Serial)
;
Phpoc.begin(PF_LOG_SPI | PF_LOG_NET);
Expansion.begin();
Serial.println(step.getPID());
Serial.println(step.getName());
}
void loop() {
Serial.print(step.getEio(0));
Serial.print(step.getEio(1));
Serial.print(step.getEio(2));
Serial.print(step.getEio(3));
Serial.println();
delay(1000);
}
1111
1111
1110
0110
...