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Luos documentation >> Module >> Stepper

Last update: 15 March 2019


Introduction to the Stepper module type

This module type allows to control a stepper motor. This module computes micro-stepping and motion planning.

The Stepper module type has access to all common capabilities.

Modules’s type settings:

Warning: This module doesn't save any of the following parameters, they must be set each time your module reboots.


The number of steps per turn must be defined, as well as the wheel diameter at the output of the motor if you wahnt to use translation. These specs may figure in your motor’s datasheet.


Functions

Function name and parameters Action Comment
setToZero(self) Resets current position of the motor to 0 You can use it to initialize the position of the motor
control(self) Displays module type graphical interface Only available using Jupyter notebook

Variables

Motor settings

Variable name Action Type
stepPerTurn Defines the stepper resolution read / write: float
wheel_size Defines wheel size used for translation mode read / write: float

Motor control modes

Variable name Action Type
compliant - True: disables the motor driver, you can use it to move the motor by hand.
- False: Enables the motor driver.
read / write: Boolean (True or False)
rot_position_mode Enables/Disables the motor rotation position control mode.
Disables power mode and translation position mode if enabled.
Doesn’t work if no position PID is configured.
read / write: Boolean (True or False)
rot_speed_mode Enables/Disables the motor rotation speed control mode.
Disables power mode and translation speed mode if enabled.
Doesn’t work if no speed PID configured.
read / write: Boolean (True or False)
trans_position_mode Enables/Disables the motor translation position control mode.
Disables power mode and rotation position mode if enabled.
Doesn’t work if no position PID configured.
read / write: Boolean (True or False)
trans_speed_mode Enables/Disables the motor translation speed control mode.
Disables power mode and rotation speed mode if enabled.
Doesn’t work if no speed PID configured.
read / write: Boolean (True or False)

Motor commands

Variable name Action Type
target_rot_position Sets the target rotation position to reach in °. read / write: float
target_rot_speed Sets the target rotation speed to reach in °/s. read / write: float
target_trans_position Sets the target translation position to reach in mm. read / write: float
target_trans_speed Sets the target translation speed to reach in mm/s. read / write: float



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