stepper.startasync() and stepper.stopasync()

[ar055]

commit e4d5059

could you please post some lua code demonstrating how these functions work?

1. I was unable to start stepper motors with the stepper.startasync () command.
2. the stepper.stopasync () command stops all motors.

my code:

m1.stepper =  stepper.attach(m1.dir_pin, m1.step_pin, 200, 60, 6000, 100, 100)
m2.stepper =  stepper.attach(m2.dir_pin, m2.step_pin, 200, 60, 6000, 100, 100)

function run(motor)
  function _run()
    pio.pin.setlow(motor.en_pin)
    stepper.start(motor.stepper)
--    stepper.startasync(motor.stepper)  -- does not work
  end
  if motor.stepper:getdistance() ~= 0 then
    th = thread.start(_run)
  end
end

m1.stepper:move(1000)
m2.stepper:move(1000)

run(m1)
run(m2)
tmr.sleepms(1000)

stepper.stopasync(m1.stepper)  -- all steppers stopped

[chowette]

I do not reproduce your bug with only one motor. ( I have only one wired yet)

Your code look similar to mine, except that I have added the startasync() exactly to avoid an additional thread.

What I see is another bug :

m1.stepper =  stepper.attach(m1.dir_pin, m1.step_pin, 200, 60, 6000, 100, 100)
m1.stepper:move(1000)
pio.pin.setlow(m1.en_pin)
stepper.startasync(m1.stepper)
tmr.sleepms(1000)
stepper.stop(m1.stepper)  -- or stepper.stopasync(m1.stepper) 
-- here come the bug
stepper.start(m1.stepper) -- or stepper.startasync(m1.stepper)

Restarting a stepper after a call to stop() or stopasync() leave the stepper in an incoherent state. Note that calling the move() method reset this state.

m1.stepper:move(m1.stepper:getdistance())
stepper.start(m1.stepper) -- or stepper.startasync(m1.stepper)

[chowette]

I see where the bug from your sample code

stepper.stopasync(m1.stepper)  -- all steppers stopped

comes from :

Lua-RTOS-ESP32/components/sys/drivers/stepper.c

Line 784 in b524cdb

void stepper_stop(int mask, uint8_t async) {

the mask parameter is never used. I will provide a patch soon

[ar055]

idn't know that startasync starts the process itself, my mistake was pio.pin.sethigh (motor.en_pin) right after stepper.startasync(motor.stepper).
confirm, stepper.startasiync() - it's work!

[chowette]

Yeah, the documentation is lacking ... But I don't know how to edit the wiki.

I did not see that you disabled the motors right after the startasync() , I am glad it works for you.

[the0ne]

Wiki is a separate repo that can be pulled, locally modified and pushed:

Any GitHub wiki can be cloned by appending wiki.git to the repo url, so the clone url for the repo https://myorg/myrepo/ is: [email protected]:myorg/myrepo.wiki.git (for ssh) or https://github.com/my/myrepo.wiki.git (for https).

You make edits, and commit and push your changes, like any normal repo. This wiki repo is distinct from any clone of the project repo (the repo without wiki.get appended).

[chowette]

Thank you @the0ne , I will give it a try.

[chowette]

see 3abf0ea in #377 for a fix to the stop() and stopasync() to stop only the stepper that where asked .