Contents

About Stepper Mode

Step mode makes adjustments to the position of a stepper motor based on the number of steps entered in a text box.  This mode uses no feedback. 

The Moto 1.0 Application in Step mode.

You can manipulate 4 variables in Step Mode:

Period

The period is how many timer increments (0.1 ms) pass between stepper motor steps.  Changing the period changes how quickly the motor steps from one position to the next.  It acts as a speed control. 

Invert Output

Checking this box inverts the step direction.  You may want to reverse a motor when using two motors on a differential-drive robot so that positive values mean forward motion for both motors. 

Step Sequence Type

Stepper motors may be driven with three basic patterns: wave, high-torque, and half-step.  Wave activates one coil at a time to provide basic motion.  High-torque always activates two stepper drive coils and provides more torque.  Half-step alternates between activating one or two coils at a time and provides twice as many steps per revolution.  Since some internal flags serve a dual use, a change to Step mode will always force a selection of Wave mode and a change from Step mode will always clear the Auto Brake flag. 

Delta

How many steps you want the motor to take.  Type a positive or negative number in the text box and hit Enter.  Then click Go.  Click Stop at any time to stop the motion. 

Related Examples:

Controlling a Stepper Motor with the BrainStem Moto Controller Example