为了使用此扩展板使用PHPoC Expansion数据库的ExpansionStepper 。
ExpansionStepper class可使用的函数如下。
| 成员函数 | 说明 |
|---|---|
| int getPID(void) | get the product's ID |
| char *getName(void) | get the product's name |
| ExpansionStepper(int sid) | create an instance of a motor port |
| void reset(void) | stop a motor and initialize settings |
| void setMode(int mode) | set a division rate |
| void setVrefStop(int vref) | set a current limiting of stop state |
| void setVrefDrive(int vref) | set a current limiting of run state |
| void setVrefLock(int vref) | set a current limiting of lock state |
| void setResonance(int low, int high) | set a resonance range |
| void setSpeed(long speed) | set a speed |
| void setAccel(long accel) | set accelration and deceleration |
| void setPosition(long pos) | set a counter position |
| int getState(void) | get operation states |
| long getPosition(void) | get a counter position |
| void stepMove(long step) | drive a motor based on the initial position |
| void stepGoto(long pos) | drive a motor based on the current position |
| void stepGotoSW(int id, int dir) | drive a motor for initial positioning |
| void stop(long decel = -1) | stop a motor |
| void setEioMode(int id, int mode) | set digital input ports |
| int getEio(int id) | get a state of digital input ports |