Struct PioStepper 

pub struct PioStepper<'d, T: Instance, const SM: usize> { /* private fields */ }

Pio backed Stepper driver

Implementations

impl<'d, T: Instance, const SM: usize> PioStepper<'d, T, SM>

pub fn new( pio: &mut Common<'d, T>, sm: StateMachine<'d, T, SM>, pin0: Peri<'d, impl PioPin>, pin1: Peri<'d, impl PioPin>, pin2: Peri<'d, impl PioPin>, pin3: Peri<'d, impl PioPin>, irq: Irq<'d, T, SM>, program: &PioStepperProgram<'d, T>, ) -> Self

Configure a state machine to drive a stepper

pub fn set_frequency(&mut self, freq: u32)

Set pulse frequency

pub async fn step(&mut self, steps: i32)

Full step, one phase

pub async fn step2(&mut self, steps: i32)

Full step, two phase

pub async fn step_half(&mut self, steps: i32)

Half step