YStepperMotor (Yoctopuce Java API 2.1.11632-SNAPSHOT API)

java.lang.Object
- com.yoctopuce.YoctoAPI.YFunction
- - com.yoctopuce.YoctoAPI.YStepperMotor

```
public class YStepperMotor
extends YFunction
```
YStepperMotor Class: stepper motor control interface The YStepperMotor class allows you to drive a stepper motor.

Nested Class Summary

Nested Classes
Modifier and Type	Class and Description
`static interface`	`YStepperMotor.TimedReportCallback` TimedReportCallback for StepperMotor
`static interface`	`YStepperMotor.UpdateCallback` Deprecated UpdateCallback for StepperMotor

Field Summary

Fields
Modifier and Type	Field and Description
`protected String`	`_alertMode`
`protected String`	`_auxMode`
`protected int`	`_auxSignal`
`protected String`	`_command`
`protected int`	`_diags`
`protected double`	`_maxAccel`
`protected double`	`_maxSpeed`
`protected int`	`_motorState`
`protected int`	`_overcurrent`
`protected double`	`_pullinSpeed`
`protected double`	`_speed`
`protected int`	`_stepping`
`protected double`	`_stepPos`
`protected int`	`_tCurrRun`
`protected int`	`_tCurrStop`
`protected YStepperMotor.UpdateCallback`	`_valueCallbackStepperMotor`
`static String`	`ALERTMODE_INVALID` invalid alertMode value
`static String`	`AUXMODE_INVALID` invalid auxMode value
`static int`	`AUXSIGNAL_INVALID` invalid auxSignal value
`static String`	`COMMAND_INVALID` invalid command value
`static int`	`DIAGS_INVALID` invalid diags value
`static double`	`MAXACCEL_INVALID` invalid maxAccel value
`static double`	`MAXSPEED_INVALID` invalid maxSpeed value
`static int`	`MOTORSTATE_ABSENT` invalid motorState value
`static int`	`MOTORSTATE_ALERT`
`static int`	`MOTORSTATE_BATCH`
`static int`	`MOTORSTATE_HI_Z`
`static int`	`MOTORSTATE_INVALID`
`static int`	`MOTORSTATE_RUN`
`static int`	`MOTORSTATE_STOP`
`static int`	`OVERCURRENT_INVALID` invalid overcurrent value
`static double`	`PULLINSPEED_INVALID` invalid pullinSpeed value
`static double`	`SPEED_INVALID` invalid speed value
`static int`	`STEPPING_FULLSTEP`
`static int`	`STEPPING_HALFSTEP`
`static int`	`STEPPING_INVALID`
`static int`	`STEPPING_MICROSTEP16` invalid stepping value
`static int`	`STEPPING_MICROSTEP4`
`static int`	`STEPPING_MICROSTEP8`
`static double`	`STEPPOS_INVALID` invalid stepPos value
`static int`	`TCURRRUN_INVALID` invalid tCurrRun value
`static int`	`TCURRSTOP_INVALID` invalid tCurrStop value

Fields inherited from class com.yoctopuce.YoctoAPI.YFunction
_advertisedValue, _cacheExpiration, _className, _dataStreams, _func, _funId, _hwId, _lastErrorMsg, _lastErrorType, _logicalName, _serial, _userData, _valueCallbackFunction, _yapi, ADVERTISEDVALUE_INVALID, FUNCTIONDESCRIPTOR_INVALID, LOGICALNAME_INVALID

Constructor Summary

Constructors
Modifier Constructor and Description

protected YStepperMotor(String func)

protected YStepperMotor(YAPIContext ctx, String func)

Constructors
Modifier	Constructor and Description
`protected`	`YStepperMotor(String func)`
`protected`	`YStepperMotor(YAPIContext ctx, String func)`

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`int`	`_invokeValueCallback(String value)`
`protected void`	`_parseAttr(com.yoctopuce.YoctoAPI.YJSONObject json_val)`
`int`	`abortAndBrake()` Stops the motor smoothly as soon as possible, without waiting for ongoing move completion.
`int`	`abortAndHiZ()` Turn the controller into Hi-Z mode immediately, without waiting for ongoing move completion.
`int`	`alertStepDir(int dir)` Move one single step in the selected direction without regards to end switches.
`int`	`alertStepOut()` Move one step in the direction opposite the direction set when the most recent alert was raised.
`int`	`changeSpeed(double speed)` Starts the motor at a given speed.
`int`	`emergencyStop()` Stops the motor with an emergency alert, without taking any additional precaution.
`int`	`findHomePosition(double speed)` Starts the motor backward at the specified speed, to search for the motor home position.
`static YStepperMotor`	`FindStepperMotor(String func)` Retrieves a stepper motor for a given identifier.
`static YStepperMotor`	`FindStepperMotorInContext(YAPIContext yctx, String func)` Retrieves a stepper motor for a given identifier in a YAPI context.
`static YStepperMotor`	`FirstStepperMotor()` Starts the enumeration of stepper motors currently accessible.
`static YStepperMotor`	`FirstStepperMotorInContext(YAPIContext yctx)` Starts the enumeration of stepper motors currently accessible.
`String`	`get_alertMode()`
`String`	`get_auxMode()`
`int`	`get_auxSignal()` Returns the current value of the signal generated on the auxiliary output.
`String`	`get_command()`
`int`	`get_diags()` Returns the stepper motor controller diagnostics, as a bitmap.
`double`	`get_maxAccel()` Returns the maximal motor acceleration, measured in steps per second^2.
`double`	`get_maxSpeed()` Returns the maximal motor speed, measured in steps per second.
`int`	`get_motorState()` Returns the motor working state.
`int`	`get_overcurrent()` Returns the overcurrent alert and emergency stop threshold, measured in mA.
`double`	`get_pullinSpeed()` Returns the motor speed immediately reachable from stop state, measured in steps per second.
`double`	`get_speed()` Returns current motor speed, measured in steps per second.
`int`	`get_stepping()` Returns the stepping mode used to drive the motor.
`double`	`get_stepPos()` Returns the current logical motor position, measured in steps.
`int`	`get_tCurrRun()` Returns the torque regulation current when the motor is running, measured in mA.
`int`	`get_tCurrStop()` Returns the torque regulation current when the motor is stopped, measured in mA.
`int`	`getAuxSignal()` Returns the current value of the signal generated on the auxiliary output.
`int`	`getDiags()` Returns the stepper motor controller diagnostics, as a bitmap.
`double`	`getMaxAccel()` Returns the maximal motor acceleration, measured in steps per second^2.
`double`	`getMaxSpeed()` Returns the maximal motor speed, measured in steps per second.
`int`	`getMotorState()` Returns the motor working state.
`int`	`getOvercurrent()` Returns the overcurrent alert and emergency stop threshold, measured in mA.
`double`	`getPullinSpeed()` Returns the motor speed immediately reachable from stop state, measured in steps per second.
`double`	`getSpeed()` Returns current motor speed, measured in steps per second.
`int`	`getStepping()` Returns the stepping mode used to drive the motor.
`double`	`getStepPos()` Returns the current logical motor position, measured in steps.
`int`	`getTCurrRun()` Returns the torque regulation current when the motor is running, measured in mA.
`int`	`getTCurrStop()` Returns the torque regulation current when the motor is stopped, measured in mA.
`int`	`moveRel(double relPos)` Starts the motor to reach a given relative position.
`int`	`moveRelSlow(double relPos, double maxSpeed)` Starts the motor to reach a given relative position, keeping the speed under the specified limit.
`int`	`moveTo(double absPos)` Starts the motor to reach a given absolute position.
`YStepperMotor`	`nextStepperMotor()` Continues the enumeration of stepper motors started using yFirstStepperMotor().
`int`	`pause(int waitMs)` Keep the motor in the same state for the specified amount of time, before processing next command.
`int`	`registerValueCallback(YStepperMotor.UpdateCallback callback)` Registers the callback function that is invoked on every change of advertised value.
`int`	`reset()` Reinitialize the controller and clear all alert flags.
`int`	`sendCommand(String command)`
`int`	`set_alertMode(String newval)`
`int`	`set_auxMode(String newval)`
`int`	`set_auxSignal(int newval)` Changes the value of the signal generated on the auxiliary output.
`int`	`set_command(String newval)`
`int`	`set_maxAccel(double newval)` Changes the maximal motor acceleration, measured in steps per second^2.
`int`	`set_maxSpeed(double newval)` Changes the maximal motor speed, measured in steps per second.
`int`	`set_overcurrent(int newval)` Changes the overcurrent alert and emergency stop threshold, measured in mA.
`int`	`set_pullinSpeed(double newval)` Changes the motor speed immediately reachable from stop state, measured in steps per second.
`int`	`set_stepping(int newval)` Changes the stepping mode used to drive the motor.
`int`	`set_stepPos(double newval)` Changes the current logical motor position, measured in steps.
`int`	`set_tCurrRun(int newval)` Changes the torque regulation current when the motor is running, measured in mA.
`int`	`set_tCurrStop(int newval)` Changes the torque regulation current when the motor is stopped, measured in mA.
`int`	`setAuxSignal(int newval)` Changes the value of the signal generated on the auxiliary output.
`int`	`setMaxAccel(double newval)` Changes the maximal motor acceleration, measured in steps per second^2.
`int`	`setMaxSpeed(double newval)` Changes the maximal motor speed, measured in steps per second.
`int`	`setOvercurrent(int newval)` Changes the overcurrent alert and emergency stop threshold, measured in mA.
`int`	`setPullinSpeed(double newval)` Changes the motor speed immediately reachable from stop state, measured in steps per second.
`int`	`setStepping(int newval)` Changes the stepping mode used to drive the motor.
`int`	`setStepPos(double newval)` Changes the current logical motor position, measured in steps.
`int`	`setTCurrRun(int newval)` Changes the torque regulation current when the motor is running, measured in mA.
`int`	`setTCurrStop(int newval)` Changes the torque regulation current when the motor is stopped, measured in mA.

Methods inherited from class com.yoctopuce.YoctoAPI.YFunction
_AddToCache, _clearDataStreamCache, _decode_json_int, _decode_json_string, _download, _escapeAttr, _FindFromCache, _FindFromCacheInContext, _get_json_path_struct, _get_json_path, _is_valid_pass, _json_get_array, _json_get_key, _json_get_string, _parse, _parserHelper, _setAttr, _throw, _UpdateTimedReportCallbackList, _UpdateValueCallbackList, _upload, _upload, _uploadEx, clearCache, describe, errMessage, errorMessage, errorType, errType, FindFunction, FindFunctionInContext, FirstFunction, FirstFunctionInContext, functionDescriptor, get_advertisedValue, get_errorMessage, get_errorType, get_friendlyName, get_functionDescriptor, get_functionId, get_hardwareId, get_logicalName, get_module, get_serialNumber, get_userData, getAdvertisedValue, getErrorMessage, getErrorType, getFriendlyName, getFunctionDescriptor, getFunctionId, getHardwareId, getLogicalName, getModule, getUserData, isOnline, isReadOnly, load, loadAttribute, module, muteValueCallbacks, nextFunction, registerValueCallback, set_advertisedValue, set_logicalName, set_userData, setLogicalName, setUserData, toString, unmuteValueCallbacks, userData

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

- Field Detail
  - MOTORSTATE_ABSENT
```
public static final int MOTORSTATE_ABSENT
```
    invalid motorState value
    
    See Also:
    
    Constant Field Values
  - MOTORSTATE_ALERT
```
public static final int MOTORSTATE_ALERT
```
    See Also:
    
    Constant Field Values
  - MOTORSTATE_HI_Z
```
public static final int MOTORSTATE_HI_Z
```
    See Also:
    
    Constant Field Values
  - MOTORSTATE_STOP
```
public static final int MOTORSTATE_STOP
```
    See Also:
    
    Constant Field Values
  - MOTORSTATE_RUN
```
public static final int MOTORSTATE_RUN
```
    See Also:
    
    Constant Field Values
  - MOTORSTATE_BATCH
```
public static final int MOTORSTATE_BATCH
```
    See Also:
    
    Constant Field Values
  - MOTORSTATE_INVALID
```
public static final int MOTORSTATE_INVALID
```
    See Also:
    
    Constant Field Values
  - DIAGS_INVALID
```
public static final int DIAGS_INVALID
```
    invalid diags value
    
    See Also:
    
    Constant Field Values
  - STEPPOS_INVALID
```
public static final double STEPPOS_INVALID
```
    invalid stepPos value
    
    See Also:
    
    Constant Field Values
  - SPEED_INVALID
```
public static final double SPEED_INVALID
```
    invalid speed value
    
    See Also:
    
    Constant Field Values
  - PULLINSPEED_INVALID
```
public static final double PULLINSPEED_INVALID
```
    invalid pullinSpeed value
    
    See Also:
    
    Constant Field Values
  - MAXACCEL_INVALID
```
public static final double MAXACCEL_INVALID
```
    invalid maxAccel value
    
    See Also:
    
    Constant Field Values
  - MAXSPEED_INVALID
```
public static final double MAXSPEED_INVALID
```
    invalid maxSpeed value
    
    See Also:
    
    Constant Field Values
  - STEPPING_MICROSTEP16
```
public static final int STEPPING_MICROSTEP16
```
    invalid stepping value
    
    See Also:
    
    Constant Field Values
  - STEPPING_MICROSTEP8
```
public static final int STEPPING_MICROSTEP8
```
    See Also:
    
    Constant Field Values
  - STEPPING_MICROSTEP4
```
public static final int STEPPING_MICROSTEP4
```
    See Also:
    
    Constant Field Values
  - STEPPING_HALFSTEP
```
public static final int STEPPING_HALFSTEP
```
    See Also:
    
    Constant Field Values
  - STEPPING_FULLSTEP
```
public static final int STEPPING_FULLSTEP
```
    See Also:
    
    Constant Field Values
  - STEPPING_INVALID
```
public static final int STEPPING_INVALID
```
    See Also:
    
    Constant Field Values
  - OVERCURRENT_INVALID
```
public static final int OVERCURRENT_INVALID
```
    invalid overcurrent value
    
    See Also:
    
    Constant Field Values
  - TCURRSTOP_INVALID
```
public static final int TCURRSTOP_INVALID
```
    invalid tCurrStop value
    
    See Also:
    
    Constant Field Values
  - TCURRRUN_INVALID
```
public static final int TCURRRUN_INVALID
```
    invalid tCurrRun value
    
    See Also:
    
    Constant Field Values
  - ALERTMODE_INVALID
```
public static final String ALERTMODE_INVALID
```
    invalid alertMode value
    
    See Also:
    
    Constant Field Values
  - AUXMODE_INVALID
```
public static final String AUXMODE_INVALID
```
    invalid auxMode value
    
    See Also:
    
    Constant Field Values
  - AUXSIGNAL_INVALID
```
public static final int AUXSIGNAL_INVALID
```
    invalid auxSignal value
    
    See Also:
    
    Constant Field Values
  - COMMAND_INVALID
```
public static final String COMMAND_INVALID
```
    invalid command value
    
    See Also:
    
    Constant Field Values
  - _motorState
```
protected int _motorState
```
  - _diags
```
protected int _diags
```
  - _stepPos
```
protected double _stepPos
```
  - _speed
```
protected double _speed
```
  - _pullinSpeed
```
protected double _pullinSpeed
```
  - _maxAccel
```
protected double _maxAccel
```
  - _maxSpeed
```
protected double _maxSpeed
```
  - _stepping
```
protected int _stepping
```
  - _overcurrent
```
protected int _overcurrent
```
  - _tCurrStop
```
protected int _tCurrStop
```
  - _tCurrRun
```
protected int _tCurrRun
```
  - _alertMode
```
protected String _alertMode
```
  - _auxMode
```
protected String _auxMode
```
  - _auxSignal
```
protected int _auxSignal
```
  - _command
```
protected String _command
```
  - _valueCallbackStepperMotor
```
protected YStepperMotor.UpdateCallback _valueCallbackStepperMotor
```
- Constructor Detail
  - YStepperMotor
```
protected YStepperMotor(YAPIContext ctx,
                        String func)
```
    Parameters:
    
    func - : functionid
  - YStepperMotor
```
protected YStepperMotor(String func)
```
    Parameters:
    
    func - : functionid
- Method Detail
  - _parseAttr
```
protected void _parseAttr(com.yoctopuce.YoctoAPI.YJSONObject json_val)
                   throws Exception
```
    Overrides:
    
    _parseAttr in class YFunction
    
    Throws:
    
    Exception
  - get_motorState
```
public int get_motorState()
                   throws YAPI_Exception
```
    Returns the motor working state.
    
    Returns:
    
    a value among YStepperMotor.MOTORSTATE_ABSENT, YStepperMotor.MOTORSTATE_ALERT, YStepperMotor.MOTORSTATE_HI_Z, YStepperMotor.MOTORSTATE_STOP, YStepperMotor.MOTORSTATE_RUN and YStepperMotor.MOTORSTATE_BATCH corresponding to the motor working state
    
    Throws:
    
    YAPI_Exception - on error
  - getMotorState
```
public int getMotorState()
                  throws YAPI_Exception
```
    Returns the motor working state.
    
    Returns:
    
    a value among YStepperMotor.MOTORSTATE_ABSENT, YStepperMotor.MOTORSTATE_ALERT, YStepperMotor.MOTORSTATE_HI_Z, YStepperMotor.MOTORSTATE_STOP, YStepperMotor.MOTORSTATE_RUN and YStepperMotor.MOTORSTATE_BATCH corresponding to the motor working state
    
    Throws:
    
    YAPI_Exception - on error
  - get_diags
```
public int get_diags()
              throws YAPI_Exception
```
    Returns the stepper motor controller diagnostics, as a bitmap.
    
    Returns:
    
    an integer corresponding to the stepper motor controller diagnostics, as a bitmap
    
    Throws:
    
    YAPI_Exception - on error
  - getDiags
```
public int getDiags()
             throws YAPI_Exception
```
    Returns the stepper motor controller diagnostics, as a bitmap.
    
    Returns:
    
    an integer corresponding to the stepper motor controller diagnostics, as a bitmap
    
    Throws:
    
    YAPI_Exception - on error
  - set_stepPos
```
public int set_stepPos(double newval)
                throws YAPI_Exception
```
    Changes the current logical motor position, measured in steps. This command does not cause any motor move, as its purpose is only to set up the origin of the position counter. The fractional part of the position, that corresponds to the physical position of the rotor, is not changed. To trigger a motor move, use methods moveTo() or moveRel() instead.
    
    Parameters:
    
    newval - : a floating point number corresponding to the current logical motor position, measured in steps
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - setStepPos
```
public int setStepPos(double newval)
               throws YAPI_Exception
```
    Changes the current logical motor position, measured in steps. This command does not cause any motor move, as its purpose is only to set up the origin of the position counter. The fractional part of the position, that corresponds to the physical position of the rotor, is not changed. To trigger a motor move, use methods moveTo() or moveRel() instead.
    
    Parameters:
    
    newval - : a floating point number corresponding to the current logical motor position, measured in steps
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - get_stepPos
```
public double get_stepPos()
                   throws YAPI_Exception
```
    Returns the current logical motor position, measured in steps. The value may include a fractional part when micro-stepping is in use.
    
    Returns:
    
    a floating point number corresponding to the current logical motor position, measured in steps
    
    Throws:
    
    YAPI_Exception - on error
  - getStepPos
```
public double getStepPos()
                  throws YAPI_Exception
```
    Returns the current logical motor position, measured in steps. The value may include a fractional part when micro-stepping is in use.
    
    Returns:
    
    a floating point number corresponding to the current logical motor position, measured in steps
    
    Throws:
    
    YAPI_Exception - on error
  - get_speed
```
public double get_speed()
                 throws YAPI_Exception
```
    Returns current motor speed, measured in steps per second. To change speed, use method changeSpeed().
    
    Returns:
    
    a floating point number corresponding to current motor speed, measured in steps per second
    
    Throws:
    
    YAPI_Exception - on error
  - getSpeed
```
public double getSpeed()
                throws YAPI_Exception
```
    Returns current motor speed, measured in steps per second. To change speed, use method changeSpeed().
    
    Returns:
    
    a floating point number corresponding to current motor speed, measured in steps per second
    
    Throws:
    
    YAPI_Exception - on error
  - set_pullinSpeed
```
public int set_pullinSpeed(double newval)
                    throws YAPI_Exception
```
    Changes the motor speed immediately reachable from stop state, measured in steps per second.
    
    Parameters:
    
    newval - : a floating point number corresponding to the motor speed immediately reachable from stop state, measured in steps per second
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - setPullinSpeed
```
public int setPullinSpeed(double newval)
                   throws YAPI_Exception
```
    Changes the motor speed immediately reachable from stop state, measured in steps per second.
    
    Parameters:
    
    newval - : a floating point number corresponding to the motor speed immediately reachable from stop state, measured in steps per second
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - get_pullinSpeed
```
public double get_pullinSpeed()
                       throws YAPI_Exception
```
    Returns the motor speed immediately reachable from stop state, measured in steps per second.
    
    Returns:
    
    a floating point number corresponding to the motor speed immediately reachable from stop state, measured in steps per second
    
    Throws:
    
    YAPI_Exception - on error
  - getPullinSpeed
```
public double getPullinSpeed()
                      throws YAPI_Exception
```
    Returns the motor speed immediately reachable from stop state, measured in steps per second.
    
    Returns:
    
    a floating point number corresponding to the motor speed immediately reachable from stop state, measured in steps per second
    
    Throws:
    
    YAPI_Exception - on error
  - set_maxAccel
```
public int set_maxAccel(double newval)
                 throws YAPI_Exception
```
    Changes the maximal motor acceleration, measured in steps per second^2.
    
    Parameters:
    
    newval - : a floating point number corresponding to the maximal motor acceleration, measured in steps per second^2
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - setMaxAccel
```
public int setMaxAccel(double newval)
                throws YAPI_Exception
```
    Changes the maximal motor acceleration, measured in steps per second^2.
    
    Parameters:
    
    newval - : a floating point number corresponding to the maximal motor acceleration, measured in steps per second^2
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - get_maxAccel
```
public double get_maxAccel()
                    throws YAPI_Exception
```
    Returns the maximal motor acceleration, measured in steps per second^2.
    
    Returns:
    
    a floating point number corresponding to the maximal motor acceleration, measured in steps per second^2
    
    Throws:
    
    YAPI_Exception - on error
  - getMaxAccel
```
public double getMaxAccel()
                   throws YAPI_Exception
```
    Returns the maximal motor acceleration, measured in steps per second^2.
    
    Returns:
    
    a floating point number corresponding to the maximal motor acceleration, measured in steps per second^2
    
    Throws:
    
    YAPI_Exception - on error
  - set_maxSpeed
```
public int set_maxSpeed(double newval)
                 throws YAPI_Exception
```
    Changes the maximal motor speed, measured in steps per second.
    
    Parameters:
    
    newval - : a floating point number corresponding to the maximal motor speed, measured in steps per second
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - setMaxSpeed
```
public int setMaxSpeed(double newval)
                throws YAPI_Exception
```
    Changes the maximal motor speed, measured in steps per second.
    
    Parameters:
    
    newval - : a floating point number corresponding to the maximal motor speed, measured in steps per second
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - get_maxSpeed
```
public double get_maxSpeed()
                    throws YAPI_Exception
```
    Returns the maximal motor speed, measured in steps per second.
    
    Returns:
    
    a floating point number corresponding to the maximal motor speed, measured in steps per second
    
    Throws:
    
    YAPI_Exception - on error
  - getMaxSpeed
```
public double getMaxSpeed()
                   throws YAPI_Exception
```
    Returns the maximal motor speed, measured in steps per second.
    
    Returns:
    
    a floating point number corresponding to the maximal motor speed, measured in steps per second
    
    Throws:
    
    YAPI_Exception - on error
  - get_stepping
```
public int get_stepping()
                 throws YAPI_Exception
```
    Returns the stepping mode used to drive the motor.
    
    Returns:
    
    a value among YStepperMotor.STEPPING_MICROSTEP16, YStepperMotor.STEPPING_MICROSTEP8, YStepperMotor.STEPPING_MICROSTEP4, YStepperMotor.STEPPING_HALFSTEP and YStepperMotor.STEPPING_FULLSTEP corresponding to the stepping mode used to drive the motor
    
    Throws:
    
    YAPI_Exception - on error
  - getStepping
```
public int getStepping()
                throws YAPI_Exception
```
    Returns the stepping mode used to drive the motor.
    
    Returns:
    
    a value among YStepperMotor.STEPPING_MICROSTEP16, YStepperMotor.STEPPING_MICROSTEP8, YStepperMotor.STEPPING_MICROSTEP4, YStepperMotor.STEPPING_HALFSTEP and YStepperMotor.STEPPING_FULLSTEP corresponding to the stepping mode used to drive the motor
    
    Throws:
    
    YAPI_Exception - on error
  - set_stepping
```
public int set_stepping(int newval)
                 throws YAPI_Exception
```
    Changes the stepping mode used to drive the motor.
    
    Parameters:
    
    newval - : a value among YStepperMotor.STEPPING_MICROSTEP16, YStepperMotor.STEPPING_MICROSTEP8, YStepperMotor.STEPPING_MICROSTEP4, YStepperMotor.STEPPING_HALFSTEP and YStepperMotor.STEPPING_FULLSTEP corresponding to the stepping mode used to drive the motor
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - setStepping
```
public int setStepping(int newval)
                throws YAPI_Exception
```
    Changes the stepping mode used to drive the motor.
    
    Parameters:
    
    newval - : a value among YStepperMotor.STEPPING_MICROSTEP16, YStepperMotor.STEPPING_MICROSTEP8, YStepperMotor.STEPPING_MICROSTEP4, YStepperMotor.STEPPING_HALFSTEP and YStepperMotor.STEPPING_FULLSTEP corresponding to the stepping mode used to drive the motor
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - get_overcurrent
```
public int get_overcurrent()
                    throws YAPI_Exception
```
    Returns the overcurrent alert and emergency stop threshold, measured in mA.
    
    Returns:
    
    an integer corresponding to the overcurrent alert and emergency stop threshold, measured in mA
    
    Throws:
    
    YAPI_Exception - on error
  - getOvercurrent
```
public int getOvercurrent()
                   throws YAPI_Exception
```
    Returns the overcurrent alert and emergency stop threshold, measured in mA.
    
    Returns:
    
    an integer corresponding to the overcurrent alert and emergency stop threshold, measured in mA
    
    Throws:
    
    YAPI_Exception - on error
  - set_overcurrent
```
public int set_overcurrent(int newval)
                    throws YAPI_Exception
```
    Changes the overcurrent alert and emergency stop threshold, measured in mA.
    
    Parameters:
    
    newval - : an integer corresponding to the overcurrent alert and emergency stop threshold, measured in mA
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - setOvercurrent
```
public int setOvercurrent(int newval)
                   throws YAPI_Exception
```
    Changes the overcurrent alert and emergency stop threshold, measured in mA.
    
    Parameters:
    
    newval - : an integer corresponding to the overcurrent alert and emergency stop threshold, measured in mA
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - get_tCurrStop
```
public int get_tCurrStop()
                  throws YAPI_Exception
```
    Returns the torque regulation current when the motor is stopped, measured in mA.
    
    Returns:
    
    an integer corresponding to the torque regulation current when the motor is stopped, measured in mA
    
    Throws:
    
    YAPI_Exception - on error
  - getTCurrStop
```
public int getTCurrStop()
                 throws YAPI_Exception
```
    Returns the torque regulation current when the motor is stopped, measured in mA.
    
    Returns:
    
    an integer corresponding to the torque regulation current when the motor is stopped, measured in mA
    
    Throws:
    
    YAPI_Exception - on error
  - set_tCurrStop
```
public int set_tCurrStop(int newval)
                  throws YAPI_Exception
```
    Changes the torque regulation current when the motor is stopped, measured in mA.
    
    Parameters:
    
    newval - : an integer corresponding to the torque regulation current when the motor is stopped, measured in mA
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - setTCurrStop
```
public int setTCurrStop(int newval)
                 throws YAPI_Exception
```
    Changes the torque regulation current when the motor is stopped, measured in mA.
    
    Parameters:
    
    newval - : an integer corresponding to the torque regulation current when the motor is stopped, measured in mA
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - get_tCurrRun
```
public int get_tCurrRun()
                 throws YAPI_Exception
```
    Returns the torque regulation current when the motor is running, measured in mA.
    
    Returns:
    
    an integer corresponding to the torque regulation current when the motor is running, measured in mA
    
    Throws:
    
    YAPI_Exception - on error
  - getTCurrRun
```
public int getTCurrRun()
                throws YAPI_Exception
```
    Returns the torque regulation current when the motor is running, measured in mA.
    
    Returns:
    
    an integer corresponding to the torque regulation current when the motor is running, measured in mA
    
    Throws:
    
    YAPI_Exception - on error
  - set_tCurrRun
```
public int set_tCurrRun(int newval)
                 throws YAPI_Exception
```
    Changes the torque regulation current when the motor is running, measured in mA.
    
    Parameters:
    
    newval - : an integer corresponding to the torque regulation current when the motor is running, measured in mA
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - setTCurrRun
```
public int setTCurrRun(int newval)
                throws YAPI_Exception
```
    Changes the torque regulation current when the motor is running, measured in mA.
    
    Parameters:
    
    newval - : an integer corresponding to the torque regulation current when the motor is running, measured in mA
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - get_alertMode
```
public String get_alertMode()
                     throws YAPI_Exception
```
    Throws:
    
    YAPI_Exception
  - set_alertMode
```
public int set_alertMode(String newval)
                  throws YAPI_Exception
```
    Throws:
    
    YAPI_Exception
  - get_auxMode
```
public String get_auxMode()
                   throws YAPI_Exception
```
    Throws:
    
    YAPI_Exception
  - set_auxMode
```
public int set_auxMode(String newval)
                throws YAPI_Exception
```
    Throws:
    
    YAPI_Exception
  - get_auxSignal
```
public int get_auxSignal()
                  throws YAPI_Exception
```
    Returns the current value of the signal generated on the auxiliary output.
    
    Returns:
    
    an integer corresponding to the current value of the signal generated on the auxiliary output
    
    Throws:
    
    YAPI_Exception - on error
  - getAuxSignal
```
public int getAuxSignal()
                 throws YAPI_Exception
```
    Returns the current value of the signal generated on the auxiliary output.
    
    Returns:
    
    an integer corresponding to the current value of the signal generated on the auxiliary output
    
    Throws:
    
    YAPI_Exception - on error
  - set_auxSignal
```
public int set_auxSignal(int newval)
                  throws YAPI_Exception
```
    Changes the value of the signal generated on the auxiliary output. Acceptable values depend on the auxiliary output signal type configured.
    
    Parameters:
    
    newval - : an integer corresponding to the value of the signal generated on the auxiliary output
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - setAuxSignal
```
public int setAuxSignal(int newval)
                 throws YAPI_Exception
```
    Changes the value of the signal generated on the auxiliary output. Acceptable values depend on the auxiliary output signal type configured.
    
    Parameters:
    
    newval - : an integer corresponding to the value of the signal generated on the auxiliary output
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - get_command
```
public String get_command()
                   throws YAPI_Exception
```
    Throws:
    
    YAPI_Exception
  - set_command
```
public int set_command(String newval)
                throws YAPI_Exception
```
    Throws:
    
    YAPI_Exception
  - FindStepperMotor
```
public static YStepperMotor FindStepperMotor(String func)
```
    Retrieves a stepper motor for a given identifier. The identifier can be specified using several formats:
    - FunctionLogicalName
    - ModuleSerialNumber.FunctionIdentifier
    - ModuleSerialNumber.FunctionLogicalName
    - ModuleLogicalName.FunctionIdentifier
    - ModuleLogicalName.FunctionLogicalName
    This function does not require that the stepper motor is online at the time it is invoked. The returned object is nevertheless valid. Use the method YStepperMotor.isOnline() to test if the stepper motor is indeed online at a given time. In case of ambiguity when looking for a stepper motor by logical name, no error is notified: the first instance found is returned. The search is performed first by hardware name, then by logical name. If a call to this object's is_online() method returns FALSE although you are certain that the matching device is plugged, make sure that you did call registerHub() at application initialization time.
    Parameters:
    
    func - : a string that uniquely characterizes the stepper motor, for instance MyDevice.stepperMotor1.
    
    Returns:
    
    a YStepperMotor object allowing you to drive the stepper motor.
  - FindStepperMotorInContext
```
public static YStepperMotor FindStepperMotorInContext(YAPIContext yctx,
                                                      String func)
```
    Retrieves a stepper motor for a given identifier in a YAPI context. The identifier can be specified using several formats:
    - FunctionLogicalName
    - ModuleSerialNumber.FunctionIdentifier
    - ModuleSerialNumber.FunctionLogicalName
    - ModuleLogicalName.FunctionIdentifier
    - ModuleLogicalName.FunctionLogicalName
    This function does not require that the stepper motor is online at the time it is invoked. The returned object is nevertheless valid. Use the method YStepperMotor.isOnline() to test if the stepper motor is indeed online at a given time. In case of ambiguity when looking for a stepper motor by logical name, no error is notified: the first instance found is returned. The search is performed first by hardware name, then by logical name.
    Parameters:
    
    yctx - : a YAPI context
    
    func - : a string that uniquely characterizes the stepper motor, for instance MyDevice.stepperMotor1.
    
    Returns:
    
    a YStepperMotor object allowing you to drive the stepper motor.
  - registerValueCallback
```
public int registerValueCallback(YStepperMotor.UpdateCallback callback)
```
    Registers the callback function that is invoked on every change of advertised value. The callback is invoked only during the execution of ySleep or yHandleEvents. This provides control over the time when the callback is triggered. For good responsiveness, remember to call one of these two functions periodically. To unregister a callback, pass a null pointer as argument.
    
    Parameters:
    
    callback - : the callback function to call, or a null pointer. The callback function should take two arguments: the function object of which the value has changed, and the character string describing the new advertised value.
  - _invokeValueCallback
```
public int _invokeValueCallback(String value)
```
    Overrides:
    
    _invokeValueCallback in class YFunction
  - sendCommand
```
public int sendCommand(String command)
                throws YAPI_Exception
```
    Throws:
    
    YAPI_Exception
  - reset
```
public int reset()
          throws YAPI_Exception
```
    Reinitialize the controller and clear all alert flags.
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - findHomePosition
```
public int findHomePosition(double speed)
                     throws YAPI_Exception
```
    Starts the motor backward at the specified speed, to search for the motor home position.
    
    Parameters:
    
    speed - : desired speed, in steps per second.
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - changeSpeed
```
public int changeSpeed(double speed)
                throws YAPI_Exception
```
    Starts the motor at a given speed. The time needed to reach the requested speed will depend on the acceleration parameters configured for the motor.
    
    Parameters:
    
    speed - : desired speed, in steps per second. The minimal non-zero speed is 0.001 pulse per second.
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - moveTo
```
public int moveTo(double absPos)
           throws YAPI_Exception
```
    Starts the motor to reach a given absolute position. The time needed to reach the requested position will depend on the acceleration and max speed parameters configured for the motor.
    
    Parameters:
    
    absPos - : absolute position, measured in steps from the origin.
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - moveRel
```
public int moveRel(double relPos)
            throws YAPI_Exception
```
    Starts the motor to reach a given relative position. The time needed to reach the requested position will depend on the acceleration and max speed parameters configured for the motor.
    
    Parameters:
    
    relPos - : relative position, measured in steps from the current position.
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - moveRelSlow
```
public int moveRelSlow(double relPos,
                       double maxSpeed)
                throws YAPI_Exception
```
    Starts the motor to reach a given relative position, keeping the speed under the specified limit. The time needed to reach the requested position will depend on the acceleration parameters configured for the motor.
    
    Parameters:
    
    relPos - : relative position, measured in steps from the current position.
    
    maxSpeed - : limit speed, in steps per second.
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - pause
```
public int pause(int waitMs)
          throws YAPI_Exception
```
    Keep the motor in the same state for the specified amount of time, before processing next command.
    
    Parameters:
    
    waitMs - : wait time, specified in milliseconds.
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - emergencyStop
```
public int emergencyStop()
                  throws YAPI_Exception
```
    Stops the motor with an emergency alert, without taking any additional precaution.
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - alertStepOut
```
public int alertStepOut()
                 throws YAPI_Exception
```
    Move one step in the direction opposite the direction set when the most recent alert was raised. The move occurs even if the system is still in alert mode (end switch depressed). Caution. use this function with great care as it may cause mechanical damages !
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - alertStepDir
```
public int alertStepDir(int dir)
                 throws YAPI_Exception
```
    Move one single step in the selected direction without regards to end switches. The move occurs even if the system is still in alert mode (end switch depressed). Caution. use this function with great care as it may cause mechanical damages !
    
    Parameters:
    
    dir - : Value +1 or -1, according to the desired direction of the move
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - abortAndBrake
```
public int abortAndBrake()
                  throws YAPI_Exception
```
    Stops the motor smoothly as soon as possible, without waiting for ongoing move completion.
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - abortAndHiZ
```
public int abortAndHiZ()
                throws YAPI_Exception
```
    Turn the controller into Hi-Z mode immediately, without waiting for ongoing move completion.
    
    Returns:
    
    YAPI.SUCCESS if the call succeeds.
    
    Throws:
    
    YAPI_Exception - on error
  - nextStepperMotor
```
public YStepperMotor nextStepperMotor()
```
    Continues the enumeration of stepper motors started using yFirstStepperMotor(). Caution: You can't make any assumption about the returned stepper motors order. If you want to find a specific a stepper motor, use StepperMotor.findStepperMotor() and a hardwareID or a logical name.
    
    Returns:
    
    a pointer to a YStepperMotor object, corresponding to a stepper motor currently online, or a null pointer if there are no more stepper motors to enumerate.
  - FirstStepperMotor
```
public static YStepperMotor FirstStepperMotor()
```
    Starts the enumeration of stepper motors currently accessible. Use the method YStepperMotor.nextStepperMotor() to iterate on next stepper motors.
    
    Returns:
    
    a pointer to a YStepperMotor object, corresponding to the first stepper motor currently online, or a null pointer if there are none.
  - FirstStepperMotorInContext
```
public static YStepperMotor FirstStepperMotorInContext(YAPIContext yctx)
```
    Starts the enumeration of stepper motors currently accessible. Use the method YStepperMotor.nextStepperMotor() to iterate on next stepper motors.
    
    Parameters:
    
    yctx - : a YAPI context.
    
    Returns:
    
    a pointer to a YStepperMotor object, corresponding to the first stepper motor currently online, or a null pointer if there are none.

Class YStepperMotor

Nested Class Summary

Field Summary

Fields inherited from class com.yoctopuce.YoctoAPI.YFunction

Constructor Summary

Method Summary

Methods inherited from class com.yoctopuce.YoctoAPI.YFunction

Methods inherited from class java.lang.Object

Field Detail

MOTORSTATE_ABSENT

MOTORSTATE_ALERT

MOTORSTATE_HI_Z

MOTORSTATE_STOP

MOTORSTATE_RUN

MOTORSTATE_BATCH

MOTORSTATE_INVALID

DIAGS_INVALID

STEPPOS_INVALID

SPEED_INVALID

PULLINSPEED_INVALID

MAXACCEL_INVALID

MAXSPEED_INVALID

STEPPING_MICROSTEP16

STEPPING_MICROSTEP8

STEPPING_MICROSTEP4

STEPPING_HALFSTEP

STEPPING_FULLSTEP

STEPPING_INVALID

OVERCURRENT_INVALID

TCURRSTOP_INVALID

TCURRRUN_INVALID

ALERTMODE_INVALID

AUXMODE_INVALID

AUXSIGNAL_INVALID

COMMAND_INVALID

_motorState

_diags

_stepPos

_speed

_pullinSpeed

_maxAccel

_maxSpeed

_stepping

_overcurrent

_tCurrStop

_tCurrRun

_alertMode

_auxMode

_auxSignal

_command

_valueCallbackStepperMotor

Constructor Detail

YStepperMotor

YStepperMotor

Method Detail

_parseAttr

get_motorState

getMotorState

get_diags

getDiags

set_stepPos

setStepPos

get_stepPos

getStepPos

get_speed

getSpeed

set_pullinSpeed

setPullinSpeed

get_pullinSpeed

getPullinSpeed

set_maxAccel

setMaxAccel

get_maxAccel

getMaxAccel

set_maxSpeed

setMaxSpeed

get_maxSpeed

getMaxSpeed

get_stepping

getStepping