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graduate accelStepperFirmata out of proposals and add link to impleme…
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@soundanalogous
soundanalogous committed Sep 16, 2017
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40 changes: 21 additions & 19 deletions proposals/accelStepperFirmata.md → accelStepperFirmata.md
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@@ -1,4 +1,4 @@
accelStepperFirmata
AccelStepperFirmata (Stepper 2.0)
===

Provides support for full 2 wire, full 3 wire, full 4 wire, half 3 wire, and half 4 wire stepper motor drivers (H-bridge, darlington array, etc) as well as step + direction drivers such as the [EasyDriver](http://www.schmalzhaus.com/EasyDriver/).
Expand All @@ -12,7 +12,9 @@ AccelStepperFirmata sends and receives floats in a custom format described at th
of this document.

Example files:
* accelStepperFirmata has not yet been implemented.
* ConfigurableFirmata [AccelStepperFirmata.cpp](https://github.com/firmata/ConfigurableFirmata/blob/master/src/AccelStepperFirmata.cpp).

Added in Firmata protocol version 2.6.0.

Protocol
---
Expand All @@ -23,7 +25,7 @@ This message is required and must be sent prior to any other message. The device

```
0 START_SYSEX (0xF0)
1 accelStepper Command (0x62)
1 ACCELSTEPPER_DATA (0x62)
2 config command (0x00 = config)
3 device number (0-9) (Supports up to 10 motors)
Expand Down Expand Up @@ -65,7 +67,7 @@ accelStepper will store the current absolute position of the stepper motor (in s

```
0 START_SYSEX (0xF0)
1 Stepper Command (0x62)
1 ACCELSTEPPER_DATA (0x62)
2 zero command (0x01)
3 device number (0-9)
4 END_SYSEX (0xF7)
Expand All @@ -77,7 +79,7 @@ Steps to move is specified as a 32-bit signed long.

```
0 START_SYSEX (0xF0)
1 Stepper Command (0x62)
1 ACCELSTEPPER_DATA (0x62)
2 step command (0x02)
3 device number (0-9)
4 num steps, bits 0-6
Expand All @@ -95,7 +97,7 @@ Position is specified as a 32-bit signed long.

```
0 START_SYSEX (0xF0)
1 Stepper Command (0x62)
1 ACCELSTEPPER_DATA (0x62)
2 to command (0x03)
3 device number (0-9)
4 position, bits 0-6
Expand All @@ -112,7 +114,7 @@ For stepper motor controllers that are configured with an enable pin, the enable

```
0 START_SYSEX (0xF0)
1 Stepper Command (0x62)
1 ACCELSTEPPER_DATA (0x62)
2 enable command (0x04)
3 device number (0-9)
4 device state (HIGH : enabled | LOW : disabled)
Expand All @@ -125,7 +127,7 @@ Stops a stepper motor. Results in ```STEPPER_MOVE_COMPLETE``` being sent to the

```
0 START_SYSEX (0xF0)
1 Stepper Command (0x62)
1 ACCELSTEPPER_DATA (0x62)
2 stop command (0x05)
3 device number (0-9)
4 END_SYSEX (0xF7)
Expand All @@ -137,7 +139,7 @@ Request a position report.

```
0 START_SYSEX (0xF0)
1 Stepper Command (0x62)
1 ACCELSTEPPER_DATA (0x62)
2 report position command (0x06)
3 device number (0-9)
4 END_SYSEX (0xF7)
Expand All @@ -149,7 +151,7 @@ Sent when a report position is requested. Position is reported as a 32-bit signe

```
0 START_SYSEX (0xF0)
1 Stepper Command (0x62)
1 ACCELSTEPPER_DATA (0x62)
2 report position command (0x06)
3 device number (0-9)
4 position, bits 0-6
Expand All @@ -166,7 +168,7 @@ Sent when a move completes. Position is reported as a 32-bit signed long.

```
0 START_SYSEX (0xF0)
1 Stepper Command (0x62)
1 ACCELSTEPPER_DATA (0x62)
2 move complete command (0x0b)
3 device number (0-9)
4 position, bits 0-6
Expand All @@ -185,7 +187,7 @@ When a limit pin (digital) is set to its limit state, movement in that direction

```
0 START_SYSEX (0xF0)
1 Stepper Command (0x62)
1 ACCELSTEPPER_DATA (0x62)
2 stop limit command (0x07)
3 device number (0-9)
4 lower limit pin number (0-127)
Expand All @@ -203,7 +205,7 @@ using accelStepperFirmata's custom float format described below.

```
0 START_SYSEX (0xF0)
1 Stepper Command (0x62)
1 ACCELSTEPPER_DATA (0x62)
2 set acceleration command (0x08)
3 device number (0-9) (Supports up to 10 motors)
4 accel, bits 0-6 (acceleration in steps/sec^2)
Expand All @@ -221,7 +223,7 @@ The speed value is passed using accelStepperFirmata's custom float format descri

```
0 START_SYSEX (0xF0)
1 Stepper Command (0x62)
1 ACCELSTEPPER_DATA (0x62)
2 set speed command (0x09)
3 device number (0-9) (Supports up to 10 motors)
4 maxSpeed, bits 0-6 (maxSpeed in steps per sec)
Expand All @@ -237,7 +239,7 @@ Stepper instances that have been created with the stepper configuration command

```
0 START_SYSEX (0xF0)
1 Stepper Command (0x62)
1 ACCELSTEPPER_DATA (0x62)
2 multiConfig command (0x20)
3 group number (0-4)
4 member 0x00 device number (0-9)
Expand All @@ -264,7 +266,7 @@ will take the longest given the change in position and the stepper's max speed.

```
0 START_SYSEX (0xF0)
1 Stepper Command (0x62)
1 ACCELSTEPPER_DATA (0x62)
2 multi to command (0x21)
3 group number (0-4)
4 position, bits 0-6
Expand All @@ -284,7 +286,7 @@ Immediately stops all steppers in the group.

```
0 START_SYSEX (0xF0)
1 Stepper Command (0x62)
1 ACCELSTEPPER_DATA (0x62)
2 multi stop command (0x23)
3 group number (0-4)
4 END_SYSEX (0xF7)
Expand All @@ -296,7 +298,7 @@ Sent when a multiStepper move completes.

```
0 START_SYSEX (0xF0)
1 Stepper Command (0x62)
1 ACCELSTEPPER_DATA (0x62)
2 multi stepper move complete command (0x24)
3 group number (0-4)
4 END_SYSEX (0xF7)
Expand Down Expand Up @@ -365,4 +367,4 @@ so we would be passing in 4 bytes in this order:
| Least most significant bits | 0000001| 0x01|
| Next most significant bits | 0000000| 0x00|
| Next most significant bits | 0000000| 0x00|
| Sign, Exponent and 2 most significant bits| 0110100| 0x34|
| Sign, Exponent and 2 most significant bits| 0110100| 0x34|
4 changes: 2 additions & 2 deletions feature-registry.md
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Expand Up @@ -62,11 +62,11 @@ Each feature should be documented in a markdown file and versioned independently
| 5FH | DEVICE_RESPONSE | [proposal](https://github.com/finson-release/Luni/blob/master/extras/v0.9/v0.8-device-driver-C-firmata-messages.md) | proposed |
| 60H | SERIAL_DATA (1.0) | [serial-1.0.md](https://github.com/firmata/protocol/blob/master/serial.md) | current |
| 61H | ENCODER_DATA | [encoder.md](https://github.com/firmata/protocol/blob/master/encoder.md) | current |
| 62H | STEPPER_DATA (2.0) | [stepper-2.0.md](https://github.com/firmata/protocol/blob/master/proposals/stepper-2.0.md) | current |
| 62H | ACCELSTEPPER_DATA | [accelStepperFirmata.md](https://github.com/firmata/protocol/blob/master/accelStepperFirmata.md) | current |
| 67H | SERIAL_DATA (2.0) | [proposal](https://github.com/firmata/protocol/blob/master/proposals/serial-2.0-proposal.md) | proposed |
| 68H | SPI_DATA | [proposal](https://github.com/firmata/protocol/blob/master/proposals/spi-proposal.md) | proposed |
| 70H | SERVO_CONFIG | [servos.md](https://github.com/firmata/protocol/blob/master/servos.md) | current |
| 72H | STEPPER_DATA (1.0) | [stepper-1.0.md](https://github.com/firmata/protocol/blob/master/stepper-1.0.md) | deprecated |
| 72H | STEPPER_DATA | [stepper-legacy.md](https://github.com/firmata/protocol/blob/master/stepper-legacy.md) | deprecated |
| 73H | ONEWIRE_DATA | [onewire.md](https://github.com/firmata/protocol/blob/master/onewire.md) | current |
| 75H | SHIFT_DATA | [shift-proposal.md](https://github.com/firmata/protocol/blob/master/proposals/shift-proposal.md) | proposed |
| 76H | I2C_REQUEST | [i2c.md](https://github.com/firmata/protocol/blob/master/i2c.md) | current |
Expand Down
4 changes: 2 additions & 2 deletions stepper-1.0.md → stepper-legacy.md
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Stepper Motor 1.0
Stepper Motor
===

*Note: Version 1.0 will be deprectated once [version 2.0](https://github.com/firmata/protocol/blob/master/stepper-2.0.md) has been implemented in ConfigurableFirmata.*
*Note: This legacy version is no longer supported not recommended for new implementations. Use the new, more full-featured [AccelStepper version](https://github.com/firmata/protocol/blob/master/accelStepperFirmata.md) instead.*

Provides support for 4 wire and 2 wire stepper motor drivers (H-bridge, darlington array, etc) as well as step + direction drivers such as the [EasyDriver](http://www.schmalzhaus.com/EasyDriver/).
Current implementation supports 6 stepper motors at the same time (#[0-5]).
Expand Down

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