Add 3-phase and yield, interrupt, to make non-blocking

examples/stepper_3ph_knob_interrupt_oneRevolution/stepper_3ph_knob_interrupt_oneRevolution.ino

@@ -0,0 +1,128 @@
+/*
+ Interruptible Three-phase Stepper Motor Control - one revolution
+
+ This program drives a three-phase unipolar stepper motor.
+ The motor is attached to GPIO pins 17, 18, 19 of a Heltec wifi kit 32 development board
+ (modify for your Arduino or whatever)
+
+ The motor should revolve one revolution in one direction, then
+ one revolution in the other direction.
+
+ A potentiometer is used to set speed (like the MotorKnob example)
+ If you select a slow speed (like 1), it can take a long time to step
+
+ If you don't want to wait for a cycle to finish itself, you can
+ "interrupt" it by pressing the pushbutton -- the ISR calls
+ Stepper::interrupt() which sets a private boolean "INTERRUPTED"
+ value in your Stepper, which will cause the while() loop in Stepper::step()
+ to exit instead of running a long time.  The user code will then call
+ Stepper::clear_interrupt(), which resets the INTERRUPTED boolean, in your Stepper
+
+Output should look like this:
+  config pushbutton ==> Done
+  Attach interrupt...  ==> Done
+  Setting stepper speed... ==> Done
+  setup() complete
+  clockwise, speed: 1  button PRESSED
+  counterclockwise, speed: 23  button NOT pressed
+  clockwise, speed: 23  button NOT pressed
+  counterclockwise, speed: 24  button NOT pressed
+  clockwise, speed: 11  button PRESSED
+  counterclockwise, speed: 8  button NOT pressed
+  ...
+
+ Created 11 Mar. 2007;  Modified 30 Nov. 2009 by Tom Igoe
+ Modified 14 Dec 2022 by Joe Brendler
+ */
+
+#include <Arduino.h>
+#include <Stepper.h>
+
+const int pot = 0;        // A0
+const int pushbutton = 2; // D2, int0
+
+const int stepsPerRevolution = 200; // change this to fit the number of steps per revolution for your motor
+long speed = 50;                    // analog input reading (in rpm)
+
+struct buttonInterruptLine
+{
+  const uint8_t PIN;         // gpio pin number
+  volatile uint32_t numHits; // number of times fired
+  volatile bool PRESSED;     // boolean logical; is triggered now
+};
+buttonInterruptLine buttonPress = {pushbutton, 0, false};
+
+// initialize the three-phase stepper library on GPIO
+Stepper myStepper(stepsPerRevolution, 17, 18, 19);
+
+/*------------------------------------------------------------------------------
+   handle_button_interrupt() - set flag and call stepper interrupt method
+  ------------------------------------------------------------------------------*/
+// void IRAM_ATTR handle_button_interrupt()
+void handle_button_interrupt()
+{
+  buttonPress.PRESSED = true;
+  myStepper.interrupt(); // method sets a flag
+}
+
+void setup()
+{
+  // initialize the serial port:
+  Serial.begin(115200);
+
+  // initialize analog input
+  pinMode(pot, INPUT);
+
+  // Configure function pushbutton interrupt pin
+  Serial.print("config pushbutton");
+  pinMode(buttonPress.PIN, INPUT);
+  Serial.println(" ==> Done");
+  Serial.print("Attach interrupt... ");
+  attachInterrupt(buttonPress.PIN, handle_button_interrupt, FALLING);
+  Serial.println(" ==> Done");
+  // set stepper speed
+  Serial.print("Setting stepper speed...");
+  // set the speed
+  myStepper.setSpeed(speed);
+  Serial.println(" ==> Done");
+  Serial.println("setup() complete");
+}
+
+void loop()
+{
+  // read speed from 12-bit ADC input (map 1-100; stepper doesn't like speed=0)
+  speed = (long)(map(analogRead(pot), 0, 4095, 1, 100));
+  myStepper.setSpeed(speed);
+  Serial.print("clockwise, speed: ");
+  Serial.print(speed);
+  // step one revolution in one direction:
+  myStepper.step(stepsPerRevolution);
+  if (buttonPress.PRESSED)
+    Serial.println(" button PRESSED");
+  else
+    Serial.println(" button NOT pressed");
+  if (buttonPress.PRESSED)
+  {
+    buttonPress.PRESSED = false;
+    myStepper.clear_interrupt();
+  }
+  delay(500);
+
+  // read speed from 12-bit ADC input (map 1-100; stepper doesn't like speed=0)
+  speed = (long)(map(analogRead(pot), 0, 4095, 1, 100));
+  myStepper.setSpeed(speed);
+  Serial.print("clockwise, speed: ");
+  Serial.print(speed);
+  // step one revolution in the other direction:
+  myStepper.step(-stepsPerRevolution);
+  if (buttonPress.PRESSED)
+    Serial.println(" button PRESSED");
+  else
+    Serial.println(" button NOT pressed");
+  if (buttonPress.PRESSED)
+  {
+    buttonPress.PRESSED = false;
+    myStepper.clear_interrupt();
+  }
+  delay(500);
+}

examples/stepper_oneRevolution/stepper_oneRevolution.ino

@@ -1,3 +1,4 @@
+
 /*
  Stepper Motor Control - one revolution
 
@@ -19,7 +20,7 @@
 const int stepsPerRevolution = 200;  // change this to fit the number of steps per revolution
 // for your motor
 
-// initialize the Stepper library on pins 8 through 11:
+// initialize the stepper library on pins 8 through 11:
 Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11);
 
 void setup() {
@@ -30,7 +31,7 @@ void setup() {
 }
 
 void loop() {
-  // step one revolution in one direction:
+  // step one revolution  in one direction:
   Serial.println("clockwise");
   myStepper.step(stepsPerRevolution);
   delay(500);
@@ -40,3 +41,4 @@ void loop() {
   myStepper.step(-stepsPerRevolution);
   delay(500);
 }
+