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grovemd: add support for 'mode1' stepping and add stepper examples

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The current grovemd driver supported 'mode2' stepping, where the
driver simply passed various stepper commands to the board for it to
carry out on it's own.

This doesn't work very well (or at all if you have old/buggy firmware)
so add a new 'mode1' stepper capability.  This mode lets the driver
manually control the stepping operation without requiring special
firmware.

This is now the default and recommended mode to use for stepper motors
on this device.  It is also more flexible in terms of the maximum
number of steps you can do (mode2 was limited to 254 steps max).

This was tested using a bipolar NEMA-17 stepper motor with an
external 12v power supply.

Note: 'Mode1' and 'Mode2' are the Seeed Studio terms for these different
stepping modes.

Signed-off-by: Jon Trulson <jtrulson@ics.com>
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
This commit is contained in:
Jon Trulson
2015-09-16 17:33:23 -06:00
committed by Mihai Tudor Panu
parent d94a6d00fb
commit 83e62aabba
6 changed files with 440 additions and 49 deletions
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2
examples/c++/CMakeLists.txt
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@ -98,6 +98,7 @@ add_executable (l298-example l298.cxx)
add_executable (l298-stepper-example l298-stepper.cxx)
add_executable (at42qt1070-example at42qt1070.cxx)
add_executable (grovemd-example grovemd.cxx)
add_executable (grovemd-stepper-example grovemd-stepper.cxx)
add_executable (pca9685-example pca9685.cxx)
add_executable (groveeldriver-example groveeldriver.cxx)
add_executable (adafruitss-example adafruitss.cxx)
@ -352,6 +353,7 @@ target_link_libraries (l298-example l298 ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (l298-stepper-example l298 ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (at42qt1070-example at42qt1070 ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (grovemd-example grovemd ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (grovemd-stepper-example grovemd ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (pca9685-example pca9685 ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (groveeldriver-example groveeldriver ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (adafruitss-example adafruitss ${CMAKE_THREAD_LIBS_INIT})