PicoStepper

A Library to drive stepper motors using the Raspberry Pi Pico (RP2040)

Installation

Add the picostepper folder to your project and adjust your CMakeLists.txt file on the basis of the CMakeLists.txt file in this repository. Then include picostepper.h in your code.

Examples

Blocking Movement

#include "picostepper.h"

int main() {
  uint base_pin = 10;
  PicoStepper device = picostepper_init(base_pin, FourWireDriver);

  uint steps = 4000;
  bool direction = true;
  uint delay = 1;
  int delay_change = 0;

  while (true)
  {
    picostepper_move_blocking(device, steps, direction, delay, delay_change );
    sleep_ms(5000);
  }

}

Non-Blocking Movement

#include "picostepper.h"

void movement_finished(PicoStepper device) {
  picostepper_move_async(device, 100, &movement_finished);
}

int main() {
  uint base_pin = 10;
  PicoStepper device = picostepper_init(base_pin, FourWireDriver);

  uint delay = 5;
  bool direction = true;
  bool enabled = true;
  uint steps = 10;


  picostepper_set_async_delay(device, delay);
  picostepper_set_async_direction(device, direction);
  picostepper_set_async_enabled(device, enabled);

  picostepper_move_async(device, steps, &movement_finished);

  while (true) {
    // Accelerate
    for (size_t i = 100; i > 0; i--)
    {
      picostepper_set_async_delay(device, i);
      sleep_ms(10);
    }

    //Deaccelerate
    for (size_t i = 0; i < 100; i++)
    {
      picostepper_set_async_delay(device, i);
      sleep_ms(10);
    }
  }
}

Hardware

For a device the lowest GPIO-Pin number is supplyed as the base-pin. The base-pin and the consecutive pins (depending on the driver-type) are then assigned to the picostepper. It is not possible to freely choose all individual pins independently.

Currently only one driver is implemented. The FourWireDriver is used to control drivers that require a direction-signal (DIR), an inverted direction-signal (!DIR), a step-signal (PUL) and an inverted step-signal (!PUL). Other devices can be supported easily by creating a corresponding PIO-program for the signal-generation. I plan to do so but pull requests are highly welcome.