From 843e9aa7710ff21a530ecbdb953ac35b1c8ff0c8 Mon Sep 17 00:00:00 2001 From: Ladyada Date: Tue, 4 Jan 2011 13:34:01 -0500 Subject: [PATCH] Slightly modified to support AFMotor by passing in function pointers --- AccelStepper.cpp | 351 ++++++ AccelStepper.h | 333 ++++++ LICENSE | 17 + MANIFEST | 27 + Makefile | 26 + doc/AccelStepper_8h-source.html | 336 ++++++ doc/annotated.html | 32 + doc/classAccelStepper-members.html | 54 + doc/classAccelStepper.html | 723 ++++++++++++ doc/doxygen.css | 473 ++++++++ doc/doxygen.png | Bin 0 -> 1281 bytes doc/files.html | 26 + doc/functions.html | 87 ++ doc/functions_func.html | 87 ++ doc/index.html | 51 + doc/tab_b.gif | Bin 0 -> 35 bytes doc/tab_l.gif | Bin 0 -> 706 bytes doc/tab_r.gif | Bin 0 -> 2585 bytes doc/tabs.css | 102 ++ examples/Blocking/Blocking.pde | 28 + examples/ConstantSpeed/ConstantSpeed.pde | 22 + examples/MultiStepper/MultiStepper.pde | 41 + examples/Overshoot/Overshoot.pde | 31 + examples/Random/Random.pde | 30 + project.cfg | 1294 ++++++++++++++++++++++ 25 files changed, 4171 insertions(+) create mode 100644 AccelStepper.cpp create mode 100644 AccelStepper.h create mode 100644 LICENSE create mode 100644 MANIFEST create mode 100644 Makefile create mode 100644 doc/AccelStepper_8h-source.html create mode 100644 doc/annotated.html create mode 100644 doc/classAccelStepper-members.html create mode 100644 doc/classAccelStepper.html create mode 100644 doc/doxygen.css create mode 100644 doc/doxygen.png create mode 100644 doc/files.html create mode 100644 doc/functions.html create mode 100644 doc/functions_func.html create mode 100644 doc/index.html create mode 100644 doc/tab_b.gif create mode 100644 doc/tab_l.gif create mode 100644 doc/tab_r.gif create mode 100644 doc/tabs.css create mode 100644 examples/Blocking/Blocking.pde create mode 100644 examples/ConstantSpeed/ConstantSpeed.pde create mode 100644 examples/MultiStepper/MultiStepper.pde create mode 100644 examples/Overshoot/Overshoot.pde create mode 100644 examples/Random/Random.pde create mode 100644 project.cfg diff --git a/AccelStepper.cpp b/AccelStepper.cpp new file mode 100644 index 0000000..24aac99 --- /dev/null +++ b/AccelStepper.cpp @@ -0,0 +1,351 @@ +// AccelStepper.cpp +// +// Copyright (C) 2009 Mike McCauley +// $Id: AccelStepper.cpp,v 1.2 2010/10/24 07:46:18 mikem Exp mikem $ + +#include "WProgram.h" +#include "AccelStepper.h" + +void AccelStepper::moveTo(long absolute) +{ + _targetPos = absolute; + computeNewSpeed(); +} + +void AccelStepper::move(long relative) +{ + moveTo(_currentPos + relative); +} + +// Implements steps according to the current speed +// You must call this at least once per step +// returns true if a step occurred +boolean AccelStepper::runSpeed() +{ + unsigned long time = millis(); + + if (time > _lastStepTime + _stepInterval) + { + if (_speed > 0) + { + // Clockwise + _currentPos += 1; + } + else if (_speed < 0) + { + // Anticlockwise + _currentPos -= 1; + } + step(_currentPos & 0x3); // Bottom 2 bits (same as mod 4, but works with + and - numbers) + + _lastStepTime = time; + return true; + } + else + return false; +} + +long AccelStepper::distanceToGo() +{ + return _targetPos - _currentPos; +} + +long AccelStepper::targetPosition() +{ + return _targetPos; +} + +long AccelStepper::currentPosition() +{ + return _currentPos; +} + +// Useful during initialisations or after initial positioning +void AccelStepper::setCurrentPosition(long position) +{ + _currentPos = position; +} + +void AccelStepper::computeNewSpeed() +{ + setSpeed(desiredSpeed()); +} + +// Work out and return a new speed. +// Subclasses can override if they want +// Implement acceleration, deceleration and max speed +// Negative speed is anticlockwise +// This is called: +// after each step +// after user changes: +// maxSpeed +// acceleration +// target position (relative or absolute) +float AccelStepper::desiredSpeed() +{ + long distanceTo = distanceToGo(); + + // Max possible speed that can still decelerate in the available distance + float requiredSpeed; + if (distanceTo == 0) + return 0.0; // Were there + else if (distanceTo > 0) // Clockwise + requiredSpeed = sqrt(2.0 * distanceTo * _acceleration); + else // Anticlockwise + requiredSpeed = -sqrt(2.0 * -distanceTo * _acceleration); + + if (requiredSpeed > _speed) + { + // Need to accelerate in clockwise direction + if (_speed == 0) + requiredSpeed = sqrt(2.0 * _acceleration); + else + requiredSpeed = _speed + abs(_acceleration / _speed); + if (requiredSpeed > _maxSpeed) + requiredSpeed = _maxSpeed; + } + else if (requiredSpeed < _speed) + { + // Need to accelerate in anticlockwise direction + if (_speed == 0) + requiredSpeed = -sqrt(2.0 * _acceleration); + else + requiredSpeed = _speed - abs(_acceleration / _speed); + if (requiredSpeed < -_maxSpeed) + requiredSpeed = -_maxSpeed; + } +// Serial.println(requiredSpeed); + return requiredSpeed; +} + +// Run the motor to implement speed and acceleration in order to proceed to the target position +// You must call this at least once per step, preferably in your main loop +// If the motor is in the desired position, the cost is very small +// returns true if we are still running to position +boolean AccelStepper::run() +{ + if (_targetPos == _currentPos) + return false; + + if (runSpeed()) + computeNewSpeed(); + return true; +} + +AccelStepper::AccelStepper(uint8_t pins, uint8_t pin1, uint8_t pin2, uint8_t pin3, uint8_t pin4) +{ + _pins = pins; + _currentPos = 0; + _targetPos = 0; + _speed = 0.0; + _maxSpeed = 1.0; + _acceleration = 1.0; + _stepInterval = 0; + _lastStepTime = 0; + _pin1 = pin1; + _pin2 = pin2; + _pin3 = pin3; + _pin4 = pin4; + enableOutputs(); +} + +AccelStepper::AccelStepper(void (*forward)(), void (*backward)()) +{ + _pins = 0; + _currentPos = 0; + _targetPos = 0; + _speed = 0.0; + _maxSpeed = 1.0; + _acceleration = 1.0; + _stepInterval = 0; + _lastStepTime = 0; + _pin1 = 0; + _pin2 = 0; + _pin3 = 0; + _pin4 = 0; + _forward = forward; + _backward = backward; +} + +void AccelStepper::setMaxSpeed(float speed) +{ + _maxSpeed = speed; + computeNewSpeed(); +} + +void AccelStepper::setAcceleration(float acceleration) +{ + _acceleration = acceleration; + computeNewSpeed(); +} + +void AccelStepper::setSpeed(float speed) +{ + _speed = speed; + _stepInterval = abs(1000.0 / _speed); +} + +float AccelStepper::speed() +{ + return _speed; +} + +// Subclasses can override +void AccelStepper::step(uint8_t step) +{ + switch (_pins) + { + case 0: + step0(); + break; + case 1: + step1(step); + break; + + case 2: + step2(step); + break; + + case 4: + step4(step); + break; + } +} + +// 0 pin step function (ie for functional usage) +void AccelStepper::step0() +{ + if (_speed) { + _forward(); + } else { + _backward(); + } +} + +// 1 pin step function (ie for stepper drivers) +// This is passed the current step number (0 to 3) +// Subclasses can override +void AccelStepper::step1(uint8_t step) +{ + digitalWrite(_pin2, _speed > 0); // Direction + // Caution 200ns setup time + digitalWrite(_pin1, HIGH); + // Caution, min Step pulse width for 3967 is 1microsec + // Delay 1microsec + delayMicroseconds(1); + digitalWrite(_pin1, LOW); +} + +// 2 pin step function +// This is passed the current step number (0 to 3) +// Subclasses can override +void AccelStepper::step2(uint8_t step) +{ + switch (step) + { + case 0: /* 01 */ + digitalWrite(_pin1, LOW); + digitalWrite(_pin2, HIGH); + break; + + case 1: /* 11 */ + digitalWrite(_pin1, HIGH); + digitalWrite(_pin2, HIGH); + break; + + case 2: /* 10 */ + digitalWrite(_pin1, HIGH); + digitalWrite(_pin2, LOW); + break; + + case 3: /* 00 */ + digitalWrite(_pin1, LOW); + digitalWrite(_pin2, LOW); + break; + } +} + +// 4 pin step function +// This is passed the current step number (0 to 3) +// Subclasses can override +void AccelStepper::step4(uint8_t step) +{ + switch (step) + { + case 0: // 1010 + digitalWrite(_pin1, HIGH); + digitalWrite(_pin2, LOW); + digitalWrite(_pin3, HIGH); + digitalWrite(_pin4, LOW); + break; + + case 1: // 0110 + digitalWrite(_pin1, LOW); + digitalWrite(_pin2, HIGH); + digitalWrite(_pin3, HIGH); + digitalWrite(_pin4, LOW); + break; + + case 2: //0101 + digitalWrite(_pin1, LOW); + digitalWrite(_pin2, HIGH); + digitalWrite(_pin3, LOW); + digitalWrite(_pin4, HIGH); + break; + + case 3: //1001 + digitalWrite(_pin1, HIGH); + digitalWrite(_pin2, LOW); + digitalWrite(_pin3, LOW); + digitalWrite(_pin4, HIGH); + break; + } +} + + +// Prevents power consumption on the outputs +void AccelStepper::disableOutputs() +{ + if (! _pins) return; + + digitalWrite(_pin1, LOW); + digitalWrite(_pin2, LOW); + if (_pins == 4) + { + digitalWrite(_pin3, LOW); + digitalWrite(_pin4, LOW); + } +} + +void AccelStepper::enableOutputs() +{ + if (! _pins) return; + + pinMode(_pin1, OUTPUT); + pinMode(_pin2, OUTPUT); + if (_pins == 4) + { + pinMode(_pin3, OUTPUT); + pinMode(_pin4, OUTPUT); + } +} + +// Blocks until the target position is reached +void AccelStepper::runToPosition() +{ + while (run()) + ; +} + +boolean AccelStepper::runSpeedToPosition() +{ + return _targetPos!=_currentPos ? AccelStepper::runSpeed() : false; +} + +// Blocks until the new target position is reached +void AccelStepper::runToNewPosition(long position) +{ + moveTo(position); + runToPosition(); +} + diff --git a/AccelStepper.h b/AccelStepper.h new file mode 100644 index 0000000..d5802a1 --- /dev/null +++ b/AccelStepper.h @@ -0,0 +1,333 @@ +// AccelStepper.h +// +/// \mainpage AccelStepper library for Arduino +/// +/// This is the Arduino AccelStepper 1.2 library. +/// It provides an object-oriented interface for 2 or 4 pin stepper motors. +/// +/// The standard Arduino IDE includes the Stepper library +/// (http://arduino.cc/en/Reference/Stepper) for stepper motors. It is +/// perfectly adequate for simple, single motor applications. +/// +/// AccelStepper significantly improves on the standard Arduino Stepper library in several ways: +/// \li Supports acceleration and deceleration +/// \li Supports multiple simultaneous steppers, with independent concurrent stepping on each stepper +/// \li API functions never delay() or block +/// \li Supports 2 and 4 wire steppers +/// \li Supports stepper drivers such as the Sparkfun EasyDriver (based on 3967 driver chip) +/// \li Very slow speeds are supported +/// \li Extensive API +/// \li Subclass support +/// +/// The latest version of this documentation can be downloaded from +/// http://www.open.com.au/mikem/arduino/AccelStepper +/// +/// Example Arduino programs are included to show the main modes of use. +/// +/// The version of the package that this documentation refers to can be downloaded +/// from http://www.open.com.au/mikem/arduino/AccelStepper/AccelStepper-1.3.zip +/// You can find the latest version at http://www.open.com.au/mikem/arduino/AccelStepper +/// +/// Tested on Arduino Diecimila and Mega with arduino-0018 on OpenSuSE 11.1 and avr-libc-1.6.1-1.15, +/// cross-avr-binutils-2.19-9.1, cross-avr-gcc-4.1.3_20080612-26.5. +/// +/// \par Installation +/// Install in the usual way: unzip the distribution zip file to the libraries +/// sub-folder of your sketchbook. +/// +/// This software is Copyright (C) 2010 Mike McCauley. Use is subject to license +/// conditions. The main licensing options available are GPL V2 or Commercial: +/// +/// \par Open Source Licensing GPL V2 +/// This is the appropriate option if you want to share the source code of your +/// application with everyone you distribute it to, and you also want to give them +/// the right to share who uses it. If you wish to use this software under Open +/// Source Licensing, you must contribute all your source code to the open source +/// community in accordance with the GPL Version 2 when your application is +/// distributed. See http://www.gnu.org/copyleft/gpl.html +/// +/// \par Commercial Licensing +/// This is the appropriate option if you are creating proprietary applications +/// and you are not prepared to distribute and share the source code of your +/// application. Contact info@open.com.au for details. +/// +/// \par Revision History +/// \version 1.0 Initial release +/// +/// \version 1.1 Added speed() function to get the current speed. +/// \version 1.2 Added runSpeedToPosition() submitted by Gunnar Arndt. +/// \version 1.3 Added support for stepper drivers (ie with Step and Direction inputs) with _pins == 1 +/// +/// +/// \author Mike McCauley (mikem@open.com.au) +// Copyright (C) 2009 Mike McCauley +// $Id: AccelStepper.h,v 1.2 2010/10/24 07:46:18 mikem Exp mikem $ + +#ifndef AccelStepper_h +#define AccelStepper_h + +#include +#include + +// These defs cause trouble on some versions of Arduino +#undef round + +///////////////////////////////////////////////////////////////////// +/// \class AccelStepper AccelStepper.h +/// \brief Support for stepper motors with acceleration etc. +/// +/// This defines a single 2 or 4 pin stepper motor, or stepper moter with fdriver chip, with optional +/// acceleration, deceleration, absolute positioning commands etc. Multiple +/// simultaneous steppers are supported, all moving +/// at different speeds and accelerations. +/// +/// \par Operation +/// This module operates by computing a step time in milliseconds. The step +/// time is recomputed after each step and after speed and acceleration +/// parameters are changed by the caller. The time of each step is recorded in +/// milliseconds. The run() function steps the motor if a new step is due. +/// The run() function must be called frequently until the motor is in the +/// desired position, after which time run() will do nothing. +/// +/// \par Positioning +/// Positions are specified by a signed long integer. At +/// construction time, the current position of the motor is consider to be 0. Positive +/// positions are clockwise from the initial position; negative positions are +/// anticlockwise. The curent position can be altered for instance after +/// initialization positioning. +/// +/// \par Caveats +/// This is an open loop controller: If the motor stalls or is oversped, +/// AccelStepper will not have a correct +/// idea of where the motor really is (since there is no feedback of the motor's +/// real position. We only know where we _think_ it is, relative to the +/// initial starting point). +/// +/// The fastest motor speed that can be reliably supported is 1000 steps per +/// second (1 step every millisecond). However any speed less than that down +/// to very slow speeds (much less than one per second) are supported, +/// provided the run() function is called frequently enough to step the +/// motor whenever required. +class AccelStepper +{ +public: + /// Constructor. You can have multiple simultaneous steppers, all moving + /// at different speeds and accelerations, provided you call their run() + /// functions at frequent enough intervals. Current Position is set to 0, target + /// position is set to 0. MaxSpeed and Acceleration default to 1.0. + /// The motor pins will be initialised to OUTPUT mode during the + /// constructor by a call to enableOutputs(). + /// \param[in] pins Number of pins to interface to. 1, 2 or 4 are + /// supported. 1 means a stepper driver (with Step and Direction pins) + /// 2 means a 2 wire stepper. 4 means a 4 wire stepper. + /// Defaults to 4 pins. + /// \param[in] pin1 Arduino digital pin number for motor pin 1. Defaults + /// to pin 2. For a driver (pins==1), this is the Step input to the driver. Low to high transition means to step) + /// \param[in] pin2 Arduino digital pin number for motor pin 2. Defaults + /// to pin 3. For a driver (pins==1), this is the Direction input the driver. High means forward. + /// \param[in] pin3 Arduino digital pin number for motor pin 3. Defaults + /// to pin 4. + /// \param[in] pin4 Arduino digital pin number for motor pin 4. Defaults + /// to pin 5. + AccelStepper(uint8_t pins = 4, uint8_t pin1 = 2, uint8_t pin2 = 3, uint8_t pin3 = 4, uint8_t pin4 = 5); + + /// Constructor. You can have multiple simultaneous steppers, all moving + /// at different speeds and accelerations, provided you call their run() + /// functions at frequent enough intervals. Current Position is set to 0, target + /// position is set to 0. MaxSpeed and Acceleration default to 1.0. + /// Any motor initialization should happen before hand, no pins are used or initialized. + /// \param[in] forward void-returning procedure that will make a forward step + /// \param[in] backward void-returning procedure that will make a backward step + AccelStepper(void (*forward)(), void (*backward)()); + + /// Set the target position. The run() function will try to move the motor + /// from the current position to the target position set by the most + /// recent call to this function. + /// \param[in] absolute The desired absolute position. Negative is + /// anticlockwise from the 0 position. + void moveTo(long absolute); + + /// Set the target position relative to the current position + /// \param[in] relative The desired position relative to the current position. Negative is + /// anticlockwise from the current position. + void move(long relative); + + /// Poll the motor and step it if a step is due, implementing + /// accelerations and decelerations to achive the ratget position. You must call this as + /// fequently as possible, but at least once per minimum step interval, + /// preferably in your main loop. + /// \return true if the motor is at the target position. + boolean run(); + + /// Poll the motor and step it if a step is due, implmenting a constant + /// speed as set by the most recent call to setSpeed(). + /// \return true if the motor was stepped. + boolean runSpeed(); + + /// Sets the maximum permitted speed. the run() function will accelerate + /// up to the speed set by this function. + /// \param[in] speed The desired maximum speed in steps per second. Must + /// be > 0. Speeds of more than 1000 steps per second are unreliable. + void setMaxSpeed(float speed); + + /// Sets the acceleration and deceleration parameter. + /// \param[in] acceleration The desired acceleration in steps per second + /// per second. Must be > 0. + void setAcceleration(float acceleration); + + /// Sets the desired constant speed for use with runSpeed(). + /// \param[in] speed The desired constant speed in steps per + /// second. Positive is clockwise. Speeds of more than 1000 steps per + /// second are unreliable. Very slow speeds may be set (eg 0.00027777 for + /// once per hour, approximately. Speed accuracy depends on the Arduino + /// crystal. Jitter depends on how frequently you call the runSpeed() function. + void setSpeed(float speed); + + /// The most recently set speed + /// \return the most recent speed in steps per second + float speed(); + + /// The distance from the current position to the target position. + /// \return the distance from the current position to the target position + /// in steps. Positive is clockwise from the current position. + long distanceToGo(); + + /// The most recently set target position. + /// \return the target position + /// in steps. Positive is clockwise from the 0 position. + long targetPosition(); + + + /// The currently motor position. + /// \return the current motor position + /// in steps. Positive is clockwise from the 0 position. + long currentPosition(); + + /// Resets the current position of the motor, so that wherever the mottor + /// happens to be right now is considered to be the new position. Useful + /// for setting a zero position on a stepper after an initial hardware + /// positioning move. + /// \param[in] position The position in steps of wherever the motor + /// happens to be right now. + void setCurrentPosition(long position); + + /// Moves the motor to the target position and blocks until it is at + /// position. Dont use this in event loops, since it blocks. + void runToPosition(); + + /// Runs at the currently selected speed until the target position is reached + /// Does not implement accelerations. + boolean runSpeedToPosition(); + + /// Moves the motor to the new target position and blocks until it is at + /// position. Dont use this in event loops, since it blocks. + /// \param[in] position The new target position. + void runToNewPosition(long position); + + /// Disable motor pin outputs by setting them all LOW + /// Depending on the design of your electronics this may turn off + /// the power to the motor coils, saving power. + /// This is useful to support Arduino low power modes: disable the outputs + /// during sleep and then reenable with enableOutputs() before stepping + /// again. + void disableOutputs(); + + /// Enable motor pin outputs by setting the motor pins to OUTPUT + /// mode. Called automatically by the constructor. + void enableOutputs(); + +protected: + + /// Forces the library to compute a new instantaneous speed and set that as + /// the current speed. Calls + /// desiredSpeed(), which can be overridden by subclasses. It is called by + /// the library: + /// \li after each step + /// \li after change to maxSpeed through setMaxSpeed() + /// \li after change to acceleration through setAcceleration() + /// \li after change to target position (relative or absolute) through + /// move() or moveTo() + void computeNewSpeed(); + + /// Called to execute a step. Only called when a new step is + /// required. Subclasses may override to implement new stepping + /// interfaces. The default calls step1(), step2() or step4() depending on the + /// number of pins defined for the stepper. + /// \param[in] step The current step phase number (0 to 3) + virtual void step(uint8_t step); + + /// Called to execute a step using stepper functions (pins = 0) Only called when a new step is + /// required. Calls _forward() or _backward() to perform the step + virtual void step0(void); + + /// Called to execute a step on a stepper drover (ie where pins == 1). Only called when a new step is + /// required. Subclasses may override to implement new stepping + /// interfaces. The default sets or clears the outputs of Step pin1 to step, + /// and sets the output of _pin2 to the desired direction. The Step pin (_pin1) is pulsed for 1 microsecond + /// which is the minimum STEP pulse width for the 3967 driver. + /// \param[in] step The current step phase number (0 to 3) + virtual void step1(uint8_t step); + + /// Called to execute a step on a 2 pin motor. Only called when a new step is + /// required. Subclasses may override to implement new stepping + /// interfaces. The default sets or clears the outputs of pin1 and pin2 + /// \param[in] step The current step phase number (0 to 3) + virtual void step2(uint8_t step); + + /// Called to execute a step on a 4 pin motor. Only called when a new step is + /// required. Subclasses may override to implement new stepping + /// interfaces. The default sets or clears the outputs of pin1, pin2, + /// pin3, pin4. + /// \param[in] step The current step phase number (0 to 3) + virtual void step4(uint8_t step); + + /// Compute and return the desired speed. The default algorithm uses + /// maxSpeed, acceleration and the current speed to set a new speed to + /// move the motor from teh current position to the target + /// position. Subclasses may override this to provide an alternate + /// algorithm (but do not block). Called by computeNewSpeed whenever a new speed neds to be + /// computed. + virtual float desiredSpeed(); + +private: + /// Number of pins on the stepper motor. Permits 2 or 4. 2 pins is a + /// bipolar, and 4 pins is a unipolar. + uint8_t _pins; // 2 or 4 + + /// Arduino pin number for the 2 or 4 pins required to interface to the + /// stepper motor. + uint8_t _pin1, _pin2, _pin3, _pin4; + + /// The current absolution position in steps. + long _currentPos; // Steps + + /// The target position in steps. The AccelStepper library will move the + /// motor from teh _currentPos to the _targetPos, taking into account the + /// max speed, acceleration and deceleration + long _targetPos; // Steps + + /// The current motos speed in steps per second + /// Positive is clockwise + float _speed; // Steps per second + + /// The maximum permitted speed in steps per second. Must be > 0. + float _maxSpeed; + + /// The acceleration to use to accelerate or decelerate the motor in steps + /// per second per second. Must be > 0 + float _acceleration; + + /// The current interval between steps in milliseconds. + unsigned long _stepInterval; + + /// The last step time in milliseconds + unsigned long _lastStepTime; + + // The pointer to a forward-step procedure + void (*_forward)(); + + // The pointer to a backward-step procedure + void (*_backward)(); +}; + +#endif diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..da124e1 --- /dev/null +++ b/LICENSE @@ -0,0 +1,17 @@ +This software is Copyright (C) 2008 Mike McCauley. Use is subject to license +conditions. The main licensing options available are GPL V2 or Commercial: + +Open Source Licensing GPL V2 + +This is the appropriate option if you want to share the source code of your +application with everyone you distribute it to, and you also want to give them +the right to share who uses it. If you wish to use this software under Open +Source Licensing, you must contribute all your source code to the open source +community in accordance with the GPL Version 2 when your application is +distributed. See http://www.gnu.org/copyleft/gpl.html + +Commercial Licensing + +This is the appropriate option if you are creating proprietary applications +and you are not prepared to distribute and share the source code of your +application. Contact info@open.com.au for details. diff --git a/MANIFEST b/MANIFEST new file mode 100644 index 0000000..8835e18 --- /dev/null +++ b/MANIFEST @@ -0,0 +1,27 @@ +AccelStepper/Makefile +AccelStepper/AccelStepper.h +AccelStepper/AccelStepper.cpp +AccelStepper/MANIFEST +AccelStepper/LICENSE +AccelStepper/project.cfg +AccelStepper/doc +AccelStepper/examples/Blocking/Blocking.pde +AccelStepper/examples/MultiStepper/MultiStepper.pde +AccelStepper/examples/Overshoot/Overshoot.pde +AccelStepper/examples/ConstantSpeed/ConstantSpeed.pde +AccelStepper/examples/Random/Random.pde +AccelStepper/doc +AccelStepper/doc/index.html +AccelStepper/doc/functions.html +AccelStepper/doc/annotated.html +AccelStepper/doc/tab_l.gif +AccelStepper/doc/tabs.css +AccelStepper/doc/files.html +AccelStepper/doc/classAccelStepper-members.html +AccelStepper/doc/doxygen.css +AccelStepper/doc/AccelStepper_8h-source.html +AccelStepper/doc/tab_r.gif +AccelStepper/doc/doxygen.png +AccelStepper/doc/tab_b.gif +AccelStepper/doc/functions_func.html +AccelStepper/doc/classAccelStepper.html diff --git a/Makefile b/Makefile new file mode 100644 index 0000000..cb3f65d --- /dev/null +++ b/Makefile @@ -0,0 +1,26 @@ +# Makefile +# +# Makefile for the Arduino AccelStepper project +# +# Author: Mike McCauley (mikem@open.com.au) +# Copyright (C) 2010 Mike McCauley +# $Id: Makefile,v 1.1 2010/04/25 02:21:18 mikem Exp mikem $ + +PROJNAME = AccelStepper +# Dont forget to also change the version at the top of AccelStepper.h: +DISTFILE = $(PROJNAME)-1.3.zip + +all: doxygen dist upload + +doxygen: + doxygen project.cfg + + +ci: + ci -l `cat MANIFEST` + +dist: + (cd ..; zip $(PROJNAME)/$(DISTFILE) `cat $(PROJNAME)/MANIFEST`) + +upload: + scp $(DISTFILE) doc/*.html doc/*.gif doc/*.png doc/*.css doc/*.pdf server2:/var/www/html/mikem/arduino/$(PROJNAME) diff --git a/doc/AccelStepper_8h-source.html b/doc/AccelStepper_8h-source.html new file mode 100644 index 0000000..2c0c25d --- /dev/null +++ b/doc/AccelStepper_8h-source.html @@ -0,0 +1,336 @@ + + +AccelStepper: AccelStepper.h Source File + + + + + +
Generated on Sun Oct 24 18:22:50 2010 for AccelStepper by  + +doxygen 1.5.6
+ + diff --git a/doc/annotated.html b/doc/annotated.html new file mode 100644 index 0000000..18e809b --- /dev/null +++ b/doc/annotated.html @@ -0,0 +1,32 @@ + + +AccelStepper: Class List + + + + + +
+

Class List

Here are the classes, structs, unions and interfaces with brief descriptions: + +
AccelStepperSupport for stepper motors with acceleration etc
+
+
Generated on Sun Oct 24 18:22:50 2010 for AccelStepper by  + +doxygen 1.5.6
+ + diff --git a/doc/classAccelStepper-members.html b/doc/classAccelStepper-members.html new file mode 100644 index 0000000..471ce2f --- /dev/null +++ b/doc/classAccelStepper-members.html @@ -0,0 +1,54 @@ + + +AccelStepper: Member List + + + + + +
+

AccelStepper Member List

This is the complete list of members for AccelStepper, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + +
AccelStepper(uint8_t pins=4, uint8_t pin1=2, uint8_t pin2=3, uint8_t pin3=4, uint8_t pin4=5)AccelStepper
computeNewSpeed()AccelStepper [protected]
currentPosition()AccelStepper
desiredSpeed()AccelStepper [protected, virtual]
disableOutputs()AccelStepper
distanceToGo()AccelStepper
enableOutputs()AccelStepper
move(long relative)AccelStepper
moveTo(long absolute)AccelStepper
run()AccelStepper
runSpeed()AccelStepper
runSpeedToPosition()AccelStepper
runToNewPosition(long position)AccelStepper
runToPosition()AccelStepper
setAcceleration(float acceleration)AccelStepper
setCurrentPosition(long position)AccelStepper
setMaxSpeed(float speed)AccelStepper
setSpeed(float speed)AccelStepper
speed()AccelStepper
step(uint8_t step)AccelStepper [protected, virtual]
step1(uint8_t step)AccelStepper [protected, virtual]
step2(uint8_t step)AccelStepper [protected, virtual]
step4(uint8_t step)AccelStepper [protected, virtual]
targetPosition()AccelStepper

+
Generated on Sun Oct 24 18:22:50 2010 for AccelStepper by  + +doxygen 1.5.6
+ + diff --git a/doc/classAccelStepper.html b/doc/classAccelStepper.html new file mode 100644 index 0000000..fb17ffc --- /dev/null +++ b/doc/classAccelStepper.html @@ -0,0 +1,723 @@ + + +AccelStepper: AccelStepper Class Reference + + + + + +
+

AccelStepper Class Reference

Support for stepper motors with acceleration etc. +More... +

+#include <AccelStepper.h> +

+ +

+List of all members. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Public Member Functions

 AccelStepper (uint8_t pins=4, uint8_t pin1=2, uint8_t pin2=3, uint8_t pin3=4, uint8_t pin4=5)
void moveTo (long absolute)
void move (long relative)
boolean run ()
boolean runSpeed ()
void setMaxSpeed (float speed)
void setAcceleration (float acceleration)
void setSpeed (float speed)
float speed ()
long distanceToGo ()
long targetPosition ()
long currentPosition ()
void setCurrentPosition (long position)
void runToPosition ()
boolean runSpeedToPosition ()
void runToNewPosition (long position)
void disableOutputs ()
void enableOutputs ()

Protected Member Functions

void computeNewSpeed ()
virtual void step (uint8_t step)
virtual void step1 (uint8_t step)
virtual void step2 (uint8_t step)
virtual void step4 (uint8_t step)
virtual float desiredSpeed ()
+

Detailed Description

+Support for stepper motors with acceleration etc. +

+This defines a single 2 or 4 pin stepper motor, or stepper moter with fdriver chip, with optional acceleration, deceleration, absolute positioning commands etc. Multiple simultaneous steppers are supported, all moving at different speeds and accelerations.

+

Operation
This module operates by computing a step time in milliseconds. The step time is recomputed after each step and after speed and acceleration parameters are changed by the caller. The time of each step is recorded in milliseconds. The run() function steps the motor if a new step is due. The run() function must be called frequently until the motor is in the desired position, after which time run() will do nothing.
+
Positioning
Positions are specified by a signed long integer. At construction time, the current position of the motor is consider to be 0. Positive positions are clockwise from the initial position; negative positions are anticlockwise. The curent position can be altered for instance after initialization positioning.
+
Caveats
This is an open loop controller: If the motor stalls or is oversped, AccelStepper will not have a correct idea of where the motor really is (since there is no feedback of the motor's real position. We only know where we _think_ it is, relative to the initial starting point).
+The fastest motor speed that can be reliably supported is 1000 steps per second (1 step every millisecond). However any speed less than that down to very slow speeds (much less than one per second) are supported, provided the run() function is called frequently enough to step the motor whenever required.

Constructor & Destructor Documentation

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AccelStepper::AccelStepper (uint8_t  pins = 4,
uint8_t  pin1 = 2,
uint8_t  pin2 = 3,
uint8_t  pin3 = 4,
uint8_t  pin4 = 5 
)
+
+
+ +

+Constructor. You can have multiple simultaneous steppers, all moving at different speeds and accelerations, provided you call their run() functions at frequent enough intervals. Current Position is set to 0, target position is set to 0. MaxSpeed and Acceleration default to 1.0. The motor pins will be initialised to OUTPUT mode during the constructor by a call to enableOutputs().

Parameters:
+ + + + + + +
[in] pins Number of pins to interface to. 1, 2 or 4 are supported. 1 means a stepper driver (with Step and Direction pins) 2 means a 2 wire stepper. 4 means a 4 wire stepper. Defaults to 4 pins.
[in] pin1 Arduino digital pin number for motor pin 1. Defaults to pin 2. For a driver (pins==1), this is the Step input to the driver. Low to high transition means to step)
[in] pin2 Arduino digital pin number for motor pin 2. Defaults to pin 3. For a driver (pins==1), this is the Direction input the driver. High means forward.
[in] pin3 Arduino digital pin number for motor pin 3. Defaults to pin 4.
[in] pin4 Arduino digital pin number for motor pin 4. Defaults to pin 5.
+
+ +

References enableOutputs().

+ +
+

+

Member Function Documentation

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+ + + + + + + + + +
void AccelStepper::moveTo (long  absolute  ) 
+
+
+ +

+Set the target position. The run() function will try to move the motor from the current position to the target position set by the most recent call to this function.

Parameters:
+ + +
[in] absolute The desired absolute position. Negative is anticlockwise from the 0 position.
+
+ +

References computeNewSpeed().

+ +

Referenced by move(), and runToNewPosition().

+ +
+

+ +

+
+ + + + + + + + + +
void AccelStepper::move (long  relative  ) 
+
+
+ +

+Set the target position relative to the current position

Parameters:
+ + +
[in] relative The desired position relative to the current position. Negative is anticlockwise from the current position.
+
+ +

References moveTo().

+ +
+

+ +

+
+ + + + + + + + +
boolean AccelStepper::run (  ) 
+
+
+ +

+Poll the motor and step it if a step is due, implementing accelerations and decelerations to achive the ratget position. You must call this as fequently as possible, but at least once per minimum step interval, preferably in your main loop.

Returns:
true if the motor is at the target position.
+ +

References computeNewSpeed(), and runSpeed().

+ +

Referenced by runToPosition().

+ +
+

+ +

+
+ + + + + + + + +
boolean AccelStepper::runSpeed (  ) 
+
+
+ +

+Poll the motor and step it if a step is due, implmenting a constant speed as set by the most recent call to setSpeed().

Returns:
true if the motor was stepped.
+ +

References step().

+ +

Referenced by run(), and runSpeedToPosition().

+ +
+

+ +

+
+ + + + + + + + + +
void AccelStepper::setMaxSpeed (float  speed  ) 
+
+
+ +

+Sets the maximum permitted speed. the run() function will accelerate up to the speed set by this function.

Parameters:
+ + +
[in] speed The desired maximum speed in steps per second. Must be > 0. Speeds of more than 1000 steps per second are unreliable.
+
+ +

References computeNewSpeed().

+ +
+

+ +

+
+ + + + + + + + + +
void AccelStepper::setAcceleration (float  acceleration  ) 
+
+
+ +

+Sets the acceleration and deceleration parameter.

Parameters:
+ + +
[in] acceleration The desired acceleration in steps per second per second. Must be > 0.
+
+ +

References computeNewSpeed().

+ +
+

+ +

+
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void AccelStepper::setSpeed (float  speed  ) 
+
+
+ +

+Sets the desired constant speed for use with runSpeed().

Parameters:
+ + +
[in] speed The desired constant speed in steps per second. Positive is clockwise. Speeds of more than 1000 steps per second are unreliable. Very slow speeds may be set (eg 0.00027777 for once per hour, approximately. Speed accuracy depends on the Arduino crystal. Jitter depends on how frequently you call the runSpeed() function.
+
+ +

Referenced by computeNewSpeed().

+ +
+

+ +

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float AccelStepper::speed (  ) 
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+ +

+The most recently set speed

Returns:
the most recent speed in steps per second
+ +
+

+ +

+
+ + + + + + + + +
long AccelStepper::distanceToGo (  ) 
+
+
+ +

+The distance from the current position to the target position.

Returns:
the distance from the current position to the target position in steps. Positive is clockwise from the current position.
+ +

Referenced by desiredSpeed().

+ +
+

+ +

+
+ + + + + + + + +
long AccelStepper::targetPosition (  ) 
+
+
+ +

+The most recently set target position.

Returns:
the target position in steps. Positive is clockwise from the 0 position.
+ +
+

+ +

+
+ + + + + + + + +
long AccelStepper::currentPosition (  ) 
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+
+ +

+The currently motor position.

Returns:
the current motor position in steps. Positive is clockwise from the 0 position.
+ +
+

+ +

+
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void AccelStepper::setCurrentPosition (long  position  ) 
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+
+ +

+Resets the current position of the motor, so that wherever the mottor happens to be right now is considered to be the new position. Useful for setting a zero position on a stepper after an initial hardware positioning move.

Parameters:
+ + +
[in] position The position in steps of wherever the motor happens to be right now.
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+ +
+

+ +

+
+ + + + + + + + +
void AccelStepper::runToPosition (  ) 
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+
+ +

+Moves the motor to the target position and blocks until it is at position. Dont use this in event loops, since it blocks. +

References run().

+ +

Referenced by runToNewPosition().

+ +
+

+ +

+
+ + + + + + + + +
boolean AccelStepper::runSpeedToPosition (  ) 
+
+
+ +

+Runs at the currently selected speed until the target position is reached Does not implement accelerations. +

References runSpeed().

+ +
+

+ +

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+ + + + + + + + + +
void AccelStepper::runToNewPosition (long  position  ) 
+
+
+ +

+Moves the motor to the new target position and blocks until it is at position. Dont use this in event loops, since it blocks.

Parameters:
+ + +
[in] position The new target position.
+
+ +

References moveTo(), and runToPosition().

+ +
+

+ +

+
+ + + + + + + + +
void AccelStepper::disableOutputs (  ) 
+
+
+ +

+Disable motor pin outputs by setting them all LOW Depending on the design of your electronics this may turn off the power to the motor coils, saving power. This is useful to support Arduino low power modes: disable the outputs during sleep and then reenable with enableOutputs() before stepping again. +

+

+ +

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+ + + + + + + + +
void AccelStepper::enableOutputs (  ) 
+
+
+ +

+Enable motor pin outputs by setting the motor pins to OUTPUT mode. Called automatically by the constructor. +

Referenced by AccelStepper().

+ +
+

+ +

+
+ + + + + + + + +
void AccelStepper::computeNewSpeed (  )  [protected]
+
+
+ +

+Forces the library to compute a new instantaneous speed and set that as the current speed. Calls desiredSpeed(), which can be overridden by subclasses. It is called by the library:

+ +

References desiredSpeed(), and setSpeed().

+ +

Referenced by moveTo(), run(), setAcceleration(), and setMaxSpeed().

+ +
+

+ +

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void AccelStepper::step (uint8_t  step  )  [protected, virtual]
+
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+ +

+Called to execute a step. Only called when a new step is required. Subclasses may override to implement new stepping interfaces. The default calls step1(), step2() or step4() depending on the number of pins defined for the stepper.

Parameters:
+ + +
[in] step The current step phase number (0 to 3)
+
+ +

References step1(), step2(), and step4().

+ +

Referenced by runSpeed().

+ +
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+ +

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void AccelStepper::step1 (uint8_t  step  )  [protected, virtual]
+
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+ +

+Called to execute a step on a stepper drover (ie where pins == 1). Only called when a new step is required. Subclasses may override to implement new stepping interfaces. The default sets or clears the outputs of Step pin1 to step, and sets the output of _pin2 to the desired direction. The Step pin (_pin1) is pulsed for 1 microsecond which is the minimum STEP pulse width for the 3967 driver.

Parameters:
+ + +
[in] step The current step phase number (0 to 3)
+
+ +

Referenced by step().

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+ +

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void AccelStepper::step2 (uint8_t  step  )  [protected, virtual]
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+ +

+Called to execute a step on a 2 pin motor. Only called when a new step is required. Subclasses may override to implement new stepping interfaces. The default sets or clears the outputs of pin1 and pin2

Parameters:
+ + +
[in] step The current step phase number (0 to 3)
+
+ +

Referenced by step().

+ +
+

+ +

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void AccelStepper::step4 (uint8_t  step  )  [protected, virtual]
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+ +

+Called to execute a step on a 4 pin motor. Only called when a new step is required. Subclasses may override to implement new stepping interfaces. The default sets or clears the outputs of pin1, pin2, pin3, pin4.

Parameters:
+ + +
[in] step The current step phase number (0 to 3)
+
+ +

Referenced by step().

+ +
+

+ +

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float AccelStepper::desiredSpeed (  )  [protected, virtual]
+
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+ +

+Compute and return the desired speed. The default algorithm uses maxSpeed, acceleration and the current speed to set a new speed to move the motor from teh current position to the target position. Subclasses may override this to provide an alternate algorithm (but do not block). Called by computeNewSpeed whenever a new speed neds to be computed. +

References distanceToGo().

+ +

Referenced by computeNewSpeed().

+ +
+

+

The documentation for this class was generated from the following files: +
+
Generated on Sun Oct 24 18:22:50 2010 for AccelStepper by  + +doxygen 1.5.6
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+

File List

Here is a list of all documented files with brief descriptions: + +
AccelStepper.h [code]
+
+
Generated on Sun Oct 24 18:22:50 2010 for AccelStepper by  + +doxygen 1.5.6
+ + diff --git a/doc/functions.html b/doc/functions.html new file mode 100644 index 0000000..cffefb7 --- /dev/null +++ b/doc/functions.html @@ -0,0 +1,87 @@ + + +AccelStepper: Class Members + + + + + +
+Here is a list of all documented class members with links to the class documentation for each member: +

+

+
+
Generated on Sun Oct 24 18:22:50 2010 for AccelStepper by  + +doxygen 1.5.6
+ + diff --git a/doc/functions_func.html b/doc/functions_func.html new file mode 100644 index 0000000..6e4d3fd --- /dev/null +++ b/doc/functions_func.html @@ -0,0 +1,87 @@ + + +AccelStepper: Class Members - Functions + + + + + +
+  +

+

+
+
Generated on Sun Oct 24 18:22:50 2010 for AccelStepper by  + +doxygen 1.5.6
+ + diff --git a/doc/index.html b/doc/index.html new file mode 100644 index 0000000..6391457 --- /dev/null +++ b/doc/index.html @@ -0,0 +1,51 @@ + + +AccelStepper: AccelStepper library for Arduino + + + + + +
+

AccelStepper library for Arduino

+

+This is the Arduino AccelStepper 1.2 library. It provides an object-oriented interface for 2 or 4 pin stepper motors.

+The standard Arduino IDE includes the Stepper library (http://arduino.cc/en/Reference/Stepper) for stepper motors. It is perfectly adequate for simple, single motor applications.

+AccelStepper significantly improves on the standard Arduino Stepper library in several ways:

    +
  • Supports acceleration and deceleration
    • +
  • Supports multiple simultaneous steppers, with independent concurrent stepping on each stepper
    • +
  • API functions never delay() or block
    • +
  • Supports 2 and 4 wire steppers
    • +
  • Supports stepper drivers such as the Sparkfun EasyDriver (based on 3967 driver chip)
    • +
  • Very slow speeds are supported
    • +
  • Extensive API
    • +
  • Subclass support
    • +
+The latest version of this documentation can be downloaded from http://www.open.com.au/mikem/arduino/AccelStepper

+Example Arduino programs are included to show the main modes of use.

+The version of the package that this documentation refers to can be downloaded from http://www.open.com.au/mikem/arduino/AccelStepper/AccelStepper-1.3.zip You can find the latest version at http://www.open.com.au/mikem/arduino/AccelStepper

+Tested on Arduino Diecimila and Mega with arduino-0018 on OpenSuSE 11.1 and avr-libc-1.6.1-1.15, cross-avr-binutils-2.19-9.1, cross-avr-gcc-4.1.3_20080612-26.5.

+

Installation
Install in the usual way: unzip the distribution zip file to the libraries sub-folder of your sketchbook.
+This software is Copyright (C) 2010 Mike McCauley. Use is subject to license conditions. The main licensing options available are GPL V2 or Commercial:

+

Open Source Licensing GPL V2
This is the appropriate option if you want to share the source code of your application with everyone you distribute it to, and you also want to give them the right to share who uses it. If you wish to use this software under Open Source Licensing, you must contribute all your source code to the open source community in accordance with the GPL Version 2 when your application is distributed. See http://www.gnu.org/copyleft/gpl.html
+
Commercial Licensing
This is the appropriate option if you are creating proprietary applications and you are not prepared to distribute and share the source code of your application. Contact info@open.com.au for details.
+
Revision History
+
Version:
1.0 Initial release

+1.1 Added speed() function to get the current speed.

+1.2 Added runSpeedToPosition() submitted by Gunnar Arndt.

+1.3 Added support for stepper drivers (ie with Step and Direction inputs) with _pins == 1

+
Author:
Mike McCauley (mikem@open.com.au)
+
+
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Runs other steppers at the same time +// +// Copyright (C) 2009 Mike McCauley +// $Id: HRFMessage.h,v 1.1 2009/08/15 05:32:58 mikem Exp mikem $ + +#include + +// Define some steppers and the pins the will use +AccelStepper stepper1; // Defaults to 4 pins on 2, 3, 4, 5 +AccelStepper stepper2(4, 6, 7, 8, 9); +AccelStepper stepper3(2, 10, 11); + +void setup() +{ + stepper1.setMaxSpeed(200.0); + stepper1.setAcceleration(100.0); + stepper1.moveTo(24); + + stepper2.setMaxSpeed(300.0); + stepper2.setAcceleration(100.0); + stepper2.moveTo(1000000); + + stepper3.setMaxSpeed(300.0); + stepper3.setAcceleration(100.0); + stepper3.moveTo(1000000); +} + +void loop() +{ + // Change direction at the limits + if (stepper1.distanceToGo() == 0) + stepper1.moveTo(-stepper1.currentPosition()); + stepper1.run(); + stepper2.run(); + stepper3.run(); +} diff --git a/examples/Overshoot/Overshoot.pde b/examples/Overshoot/Overshoot.pde new file mode 100644 index 0000000..e7eb42c --- /dev/null +++ b/examples/Overshoot/Overshoot.pde @@ -0,0 +1,31 @@ +// Overshoot.pde +// -*- mode: C++ -*- +// +// Check overshoot handling +// which sets a new target position and then waits until the stepper has +// achieved it. This is used for testing the handling of overshoots +// +// Copyright (C) 2009 Mike McCauley +// $Id: HRFMessage.h,v 1.1 2009/08/15 05:32:58 mikem Exp mikem $ + +#include + +// Define a stepper and the pins it will use +AccelStepper stepper; // Defaults to 4 pins on 2, 3, 4, 5 + +void setup() +{ +} + +void loop() +{ + stepper.setMaxSpeed(200); + stepper.setAcceleration(50); + stepper.runToNewPosition(0); + + stepper.moveTo(500); + while (stepper.currentPosition() != 300) + stepper.run(); + // cause an overshoot as we whiz past 300 + stepper.setCurrentPosition(600); +} diff --git a/examples/Random/Random.pde b/examples/Random/Random.pde new file mode 100644 index 0000000..a30cb33 --- /dev/null +++ b/examples/Random/Random.pde @@ -0,0 +1,30 @@ +// Random.pde +// -*- mode: C++ -*- +// +// Make a single stepper perform random changes in speed, position and acceleration +// +// Copyright (C) 2009 Mike McCauley +// $Id: HRFMessage.h,v 1.1 2009/08/15 05:32:58 mikem Exp mikem $ + +#include + +// Define a stepper and the pins it will use +AccelStepper stepper; // Defaults to 4 pins on 2, 3, 4, 5 + +void setup() +{ +} + +void loop() +{ + if (stepper.distanceToGo() == 0) + { + // Random change to speed, position and acceleration + // Make sure we dont get 0 speed or accelerations + delay(1000); + stepper.moveTo(rand() % 200); + stepper.setMaxSpeed((rand() % 200) + 1); + stepper.setAcceleration((rand() % 200) + 1); + } + stepper.run(); +} diff --git a/project.cfg b/project.cfg new file mode 100644 index 0000000..c38326c --- /dev/null +++ b/project.cfg @@ -0,0 +1,1294 @@ +# Doxyfile 1.5.3 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project +# +# All text after a hash (#) is considered a comment and will be ignored +# The format is: +# TAG = value [value, ...] +# For lists items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (" ") + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the config file that +# follow. The default is UTF-8 which is also the encoding used for all text before +# the first occurrence of this tag. Doxygen uses libiconv (or the iconv built into +# libc) for the transcoding. See http://www.gnu.org/software/libiconv for the list of +# possible encodings. + +DOXYFILE_ENCODING = UTF-8 + +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded +# by quotes) that should identify the project. + +PROJECT_NAME = AccelStepper + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. +# This could be handy for archiving the generated documentation or +# if some version control system is used. + +PROJECT_NUMBER = + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) +# base path where the generated documentation will be put. +# If a relative path is entered, it will be relative to the location +# where doxygen was started. If left blank the current directory will be used. + +OUTPUT_DIRECTORY = + +# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create +# 4096 sub-directories (in 2 levels) under the output directory of each output +# format and will distribute the generated files over these directories. +# Enabling this option can be useful when feeding doxygen a huge amount of +# source files, where putting all generated files in the same directory would +# otherwise cause performance problems for the file system. + +CREATE_SUBDIRS = NO + +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# The default language is English, other supported languages are: +# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional, +# Croatian, Czech, Danish, Dutch, Finnish, French, German, Greek, Hungarian, +# Italian, Japanese, Japanese-en (Japanese with English messages), Korean, +# Korean-en, Lithuanian, Norwegian, Polish, Portuguese, Romanian, Russian, +# Serbian, Slovak, Slovene, Spanish, Swedish, and Ukrainian. + +OUTPUT_LANGUAGE = English + +# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will +# include brief member descriptions after the members that are listed in +# the file and class documentation (similar to JavaDoc). +# Set to NO to disable this. + +BRIEF_MEMBER_DESC = YES + +# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend +# the brief description of a member or function before the detailed description. +# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# brief descriptions will be completely suppressed. + +REPEAT_BRIEF = YES + +# This tag implements a quasi-intelligent brief description abbreviator +# that is used to form the text in various listings. Each string +# in this list, if found as the leading text of the brief description, will be +# stripped from the text and the result after processing the whole list, is +# used as the annotated text. Otherwise, the brief description is used as-is. +# If left blank, the following values are used ("$name" is automatically +# replaced with the name of the entity): "The $name class" "The $name widget" +# "The $name file" "is" "provides" "specifies" "contains" +# "represents" "a" "an" "the" + +ABBREVIATE_BRIEF = + +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# Doxygen will generate a detailed section even if there is only a brief +# description. + +ALWAYS_DETAILED_SEC = NO + +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment +# operators of the base classes will not be shown. + +INLINE_INHERITED_MEMB = NO + +# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full +# path before files name in the file list and in the header files. If set +# to NO the shortest path that makes the file name unique will be used. + +FULL_PATH_NAMES = YES + +# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag +# can be used to strip a user-defined part of the path. Stripping is +# only done if one of the specified strings matches the left-hand part of +# the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the +# path to strip. + +STRIP_FROM_PATH = + +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of +# the path mentioned in the documentation of a class, which tells +# the reader which header file to include in order to use a class. +# If left blank only the name of the header file containing the class +# definition is used. Otherwise one should specify the include paths that +# are normally passed to the compiler using the -I flag. + +STRIP_FROM_INC_PATH = + +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter +# (but less readable) file names. This can be useful is your file systems +# doesn't support long names like on DOS, Mac, or CD-ROM. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen +# will interpret the first line (until the first dot) of a JavaDoc-style +# comment as the brief description. If set to NO, the JavaDoc +# comments will behave just like regular Qt-style comments +# (thus requiring an explicit @brief command for a brief description.) + +JAVADOC_AUTOBRIEF = NO + +# If the QT_AUTOBRIEF tag is set to YES then Doxygen will +# interpret the first line (until the first dot) of a Qt-style +# comment as the brief description. If set to NO, the comments +# will behave just like regular Qt-style comments (thus requiring +# an explicit \brief command for a brief description.) + +QT_AUTOBRIEF = NO + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen +# treat a multi-line C++ special comment block (i.e. a block of //! or /// +# comments) as a brief description. This used to be the default behaviour. +# The new default is to treat a multi-line C++ comment block as a detailed +# description. Set this tag to YES if you prefer the old behaviour instead. + +MULTILINE_CPP_IS_BRIEF = NO + +# If the DETAILS_AT_TOP tag is set to YES then Doxygen +# will output the detailed description near the top, like JavaDoc. +# If set to NO, the detailed description appears after the member +# documentation. + +DETAILS_AT_TOP = NO + +# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented +# member inherits the documentation from any documented member that it +# re-implements. + +INHERIT_DOCS = YES + +# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce +# a new page for each member. If set to NO, the documentation of a member will +# be part of the file/class/namespace that contains it. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. +# Doxygen uses this value to replace tabs by spaces in code fragments. + +TAB_SIZE = 8 + +# This tag can be used to specify a number of aliases that acts +# as commands in the documentation. An alias has the form "name=value". +# For example adding "sideeffect=\par Side Effects:\n" will allow you to +# put the command \sideeffect (or @sideeffect) in the documentation, which +# will result in a user-defined paragraph with heading "Side Effects:". +# You can put \n's in the value part of an alias to insert newlines. + +ALIASES = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C +# sources only. Doxygen will then generate output that is more tailored for C. +# For instance, some of the names that are used will be different. The list +# of all members will be omitted, etc. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java +# sources only. Doxygen will then generate output that is more tailored for Java. +# For instance, namespaces will be presented as packages, qualified scopes +# will look different, etc. + +OPTIMIZE_OUTPUT_JAVA = NO + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want to +# include (a tag file for) the STL sources as input, then you should +# set this tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); v.s. +# func(std::string) {}). This also make the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. + +CPP_CLI_SUPPORT = NO + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES, then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. + +DISTRIBUTE_GROUP_DOC = NO + +# Set the SUBGROUPING tag to YES (the default) to allow class member groups of +# the same type (for instance a group of public functions) to be put as a +# subgroup of that type (e.g. under the Public Functions section). Set it to +# NO to prevent subgrouping. Alternatively, this can be done per class using +# the \nosubgrouping command. + +SUBGROUPING = YES + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in +# documentation are documented, even if no documentation was available. +# Private class members and static file members will be hidden unless +# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES + +EXTRACT_ALL = NO + +# If the EXTRACT_PRIVATE tag is set to YES all private members of a class +# will be included in the documentation. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_STATIC tag is set to YES all static members of a file +# will be included in the documentation. + +EXTRACT_STATIC = NO + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) +# defined locally in source files will be included in the documentation. +# If set to NO only classes defined in header files are included. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. When set to YES local +# methods, which are defined in the implementation section but not in +# the interface are included in the documentation. +# If set to NO (the default) only methods in the interface are included. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be extracted +# and appear in the documentation as a namespace called 'anonymous_namespace{file}', +# where file will be replaced with the base name of the file that contains the anonymous +# namespace. By default anonymous namespace are hidden. + +EXTRACT_ANON_NSPACES = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all +# undocumented members of documented classes, files or namespaces. +# If set to NO (the default) these members will be included in the +# various overviews, but no documentation section is generated. +# This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. +# If set to NO (the default) these classes will be included in the various +# overviews. This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all +# friend (class|struct|union) declarations. +# If set to NO (the default) these declarations will be included in the +# documentation. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any +# documentation blocks found inside the body of a function. +# If set to NO (the default) these blocks will be appended to the +# function's detailed documentation block. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation +# that is typed after a \internal command is included. If the tag is set +# to NO (the default) then the documentation will be excluded. +# Set it to YES to include the internal documentation. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate +# file names in lower-case letters. If set to YES upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# and Mac users are advised to set this option to NO. + +CASE_SENSE_NAMES = YES + +# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen +# will show members with their full class and namespace scopes in the +# documentation. If set to YES the scope will be hidden. + +HIDE_SCOPE_NAMES = NO + +# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen +# will put a list of the files that are included by a file in the documentation +# of that file. + +SHOW_INCLUDE_FILES = YES + +# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] +# is inserted in the documentation for inline members. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen +# will sort the (detailed) documentation of file and class members +# alphabetically by member name. If set to NO the members will appear in +# declaration order. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the +# brief documentation of file, namespace and class members alphabetically +# by member name. If set to NO (the default) the members will appear in +# declaration order. + +SORT_BRIEF_DOCS = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be +# sorted by fully-qualified names, including namespaces. If set to +# NO (the default), the class list will be sorted only by class name, +# not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the +# alphabetical list. + +SORT_BY_SCOPE_NAME = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or +# disable (NO) the todo list. This list is created by putting \todo +# commands in the documentation. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or +# disable (NO) the test list. This list is created by putting \test +# commands in the documentation. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or +# disable (NO) the bug list. This list is created by putting \bug +# commands in the documentation. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or +# disable (NO) the deprecated list. This list is created by putting +# \deprecated commands in the documentation. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional +# documentation sections, marked by \if sectionname ... \endif. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines +# the initial value of a variable or define consists of for it to appear in +# the documentation. If the initializer consists of more lines than specified +# here it will be hidden. Use a value of 0 to hide initializers completely. +# The appearance of the initializer of individual variables and defines in the +# documentation can be controlled using \showinitializer or \hideinitializer +# command in the documentation regardless of this setting. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated +# at the bottom of the documentation of classes and structs. If set to YES the +# list will mention the files that were used to generate the documentation. + +SHOW_USED_FILES = YES + +# If the sources in your project are distributed over multiple directories +# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy +# in the documentation. The default is NO. + +SHOW_DIRECTORIES = NO + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from the +# version control system). Doxygen will invoke the program by executing (via +# popen()) the command , where is the value of +# the FILE_VERSION_FILTER tag, and is the name of an input file +# provided by doxygen. Whatever the program writes to standard output +# is used as the file version. See the manual for examples. + +FILE_VERSION_FILTER = + +#--------------------------------------------------------------------------- +# configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated +# by doxygen. Possible values are YES and NO. If left blank NO is used. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated by doxygen. Possible values are YES and NO. If left blank +# NO is used. + +WARNINGS = YES + +# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings +# for undocumented members. If EXTRACT_ALL is set to YES then this flag will +# automatically be disabled. + +WARN_IF_UNDOCUMENTED = YES + +# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some +# parameters in a documented function, or documenting parameters that +# don't exist or using markup commands wrongly. + +WARN_IF_DOC_ERROR = YES + +# This WARN_NO_PARAMDOC option can be abled to get warnings for +# functions that are documented, but have no documentation for their parameters +# or return value. If set to NO (the default) doxygen will only warn about +# wrong or incomplete parameter documentation, but not about the absence of +# documentation. + +WARN_NO_PARAMDOC = NO + +# The WARN_FORMAT tag determines the format of the warning messages that +# doxygen can produce. The string should contain the $file, $line, and $text +# tags, which will be replaced by the file and line number from which the +# warning originated and the warning text. Optionally the format may contain +# $version, which will be replaced by the version of the file (if it could +# be obtained via FILE_VERSION_FILTER) + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning +# and error messages should be written. If left blank the output is written +# to stderr. + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag can be used to specify the files and/or directories that contain +# documented source files. You may enter file names like "myfile.cpp" or +# directories like "/usr/src/myproject". Separate the files or directories +# with spaces. + +INPUT = + +# This tag can be used to specify the character encoding of the source files that +# doxygen parses. Internally doxygen uses the UTF-8 encoding, which is also the default +# input encoding. Doxygen uses libiconv (or the iconv built into libc) for the transcoding. +# See http://www.gnu.org/software/libiconv for the list of possible encodings. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank the following patterns are tested: +# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx +# *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.py + +FILE_PATTERNS = + +# The RECURSIVE tag can be used to turn specify whether or not subdirectories +# should be searched for input files as well. Possible values are YES and NO. +# If left blank NO is used. + +RECURSIVE = NO + +# The EXCLUDE tag can be used to specify files and/or directories that should +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used select whether or not files or +# directories that are symbolic links (a Unix filesystem feature) are excluded +# from the input. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. Note that the wildcards are matched +# against the file with absolute path, so to exclude all test directories +# for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the output. +# The symbol name can be a fully qualified name, a word, or if the wildcard * is used, +# a substring. Examples: ANamespace, AClass, AClass::ANamespace, ANamespace::*Test + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or +# directories that contain example code fragments that are included (see +# the \include command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank all files are included. + +EXAMPLE_PATTERNS = + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude +# commands irrespective of the value of the RECURSIVE tag. +# Possible values are YES and NO. If left blank NO is used. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or +# directories that contain image that are included in the documentation (see +# the \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command , where +# is the value of the INPUT_FILTER tag, and is the name of an +# input file. Doxygen will then use the output that the filter program writes +# to standard output. If FILTER_PATTERNS is specified, this tag will be +# ignored. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: +# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further +# info on how filters are used. If FILTER_PATTERNS is empty, INPUT_FILTER +# is applied to all files. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will be used to filter the input files when producing source +# files to browse (i.e. when SOURCE_BROWSER is set to YES). + +FILTER_SOURCE_FILES = NO + +#--------------------------------------------------------------------------- +# configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will +# be generated. Documented entities will be cross-referenced with these sources. +# Note: To get rid of all source code in the generated output, make sure also +# VERBATIM_HEADERS is set to NO. If you have enabled CALL_GRAPH or CALLER_GRAPH +# then you must also enable this option. If you don't then doxygen will produce +# a warning and turn it on anyway + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body +# of functions and classes directly in the documentation. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct +# doxygen to hide any special comment blocks from generated source code +# fragments. Normal C and C++ comments will always remain visible. + +STRIP_CODE_COMMENTS = NO + +# If the REFERENCED_BY_RELATION tag is set to YES (the default) +# then for each documented function all documented +# functions referencing it will be listed. + +REFERENCED_BY_RELATION = YES + +# If the REFERENCES_RELATION tag is set to YES (the default) +# then for each documented function all documented entities +# called/used by that function will be listed. + +REFERENCES_RELATION = YES + +# If the REFERENCES_LINK_SOURCE tag is set to YES (the default) +# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from +# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will +# link to the source code. Otherwise they will link to the documentstion. + +REFERENCES_LINK_SOURCE = YES + +# If the USE_HTAGS tag is set to YES then the references to source code +# will point to the HTML generated by the htags(1) tool instead of doxygen +# built-in source browser. The htags tool is part of GNU's global source +# tagging system (see http://www.gnu.org/software/global/global.html). You +# will need version 4.8.6 or higher. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen +# will generate a verbatim copy of the header file for each class for +# which an include is specified. Set to NO to disable this. + +VERBATIM_HEADERS = YES + +#--------------------------------------------------------------------------- +# configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index +# of all compounds will be generated. Enable this if the project +# contains a lot of classes, structs, unions or interfaces. + +ALPHABETICAL_INDEX = NO + +# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then +# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns +# in which this list will be split (can be a number in the range [1..20]) + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all +# classes will be put under the same header in the alphabetical index. +# The IGNORE_PREFIX tag can be used to specify one or more prefixes that +# should be ignored while generating the index headers. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES (the default) Doxygen will +# generate HTML output. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `html' will be used as the default path. + +HTML_OUTPUT = doc + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for +# each generated HTML page (for example: .htm,.php,.asp). If it is left blank +# doxygen will generate files with .html extension. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a personal HTML header for +# each generated HTML page. If it is left blank doxygen will generate a +# standard header. + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a personal HTML footer for +# each generated HTML page. If it is left blank doxygen will generate a +# standard footer. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading +# style sheet that is used by each HTML page. It can be used to +# fine-tune the look of the HTML output. If the tag is left blank doxygen +# will generate a default style sheet. Note that doxygen will try to copy +# the style sheet file to the HTML output directory, so don't put your own +# stylesheet in the HTML output directory as well, or it will be erased! + +HTML_STYLESHEET = + +# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, +# files or namespaces will be aligned in HTML using tables. If set to +# NO a bullet list will be used. + +HTML_ALIGN_MEMBERS = YES + +# If the GENERATE_HTMLHELP tag is set to YES, additional index files +# will be generated that can be used as input for tools like the +# Microsoft HTML help workshop to generate a compressed HTML help file (.chm) +# of the generated HTML documentation. + +GENERATE_HTMLHELP = NO + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. For this to work a browser that supports +# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox +# Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari). + +HTML_DYNAMIC_SECTIONS = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can +# be used to specify the file name of the resulting .chm file. You +# can add a path in front of the file if the result should not be +# written to the html output directory. + +CHM_FILE = + +# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can +# be used to specify the location (absolute path including file name) of +# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run +# the HTML help compiler on the generated index.hhp. + +HHC_LOCATION = + +# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag +# controls if a separate .chi index file is generated (YES) or that +# it should be included in the master .chm file (NO). + +GENERATE_CHI = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag +# controls whether a binary table of contents is generated (YES) or a +# normal table of contents (NO) in the .chm file. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members +# to the contents of the HTML help documentation and to the tree view. + +TOC_EXPAND = NO + +# The DISABLE_INDEX tag can be used to turn on/off the condensed index at +# top of each HTML page. The value NO (the default) enables the index and +# the value YES disables it. + +DISABLE_INDEX = NO + +# This tag can be used to set the number of enum values (range [1..20]) +# that doxygen will group on one line in the generated HTML documentation. + +ENUM_VALUES_PER_LINE = 4 + +# If the GENERATE_TREEVIEW tag is set to YES, a side panel will be +# generated containing a tree-like index structure (just like the one that +# is generated for HTML Help). For this to work a browser that supports +# JavaScript, DHTML, CSS and frames is required (for instance Mozilla 1.0+, +# Netscape 6.0+, Internet explorer 5.0+, or Konqueror). Windows users are +# probably better off using the HTML help feature. + +GENERATE_TREEVIEW = NO + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be +# used to set the initial width (in pixels) of the frame in which the tree +# is shown. + +TREEVIEW_WIDTH = 250 + +#--------------------------------------------------------------------------- +# configuration options related to the LaTeX output +#--------------------------------------------------------------------------- + +# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will +# generate Latex output. + +GENERATE_LATEX = NO + +# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `latex' will be used as the default path. + +LATEX_OUTPUT = latex + +# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be +# invoked. If left blank `latex' will be used as the default command name. + +LATEX_CMD_NAME = latex + +# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to +# generate index for LaTeX. If left blank `makeindex' will be used as the +# default command name. + +MAKEINDEX_CMD_NAME = makeindex + +# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact +# LaTeX documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_LATEX = NO + +# The PAPER_TYPE tag can be used to set the paper type that is used +# by the printer. Possible values are: a4, a4wide, letter, legal and +# executive. If left blank a4wide will be used. + +PAPER_TYPE = a4wide + +# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX +# packages that should be included in the LaTeX output. + +EXTRA_PACKAGES = + +# The LATEX_HEADER tag can be used to specify a personal LaTeX header for +# the generated latex document. The header should contain everything until +# the first chapter. If it is left blank doxygen will generate a +# standard header. Notice: only use this tag if you know what you are doing! + +LATEX_HEADER = + +# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated +# is prepared for conversion to pdf (using ps2pdf). The pdf file will +# contain links (just like the HTML output) instead of page references +# This makes the output suitable for online browsing using a pdf viewer. + +PDF_HYPERLINKS = NO + +# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of +# plain latex in the generated Makefile. Set this option to YES to get a +# higher quality PDF documentation. + +USE_PDFLATEX = NO + +# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. +# command to the generated LaTeX files. This will instruct LaTeX to keep +# running if errors occur, instead of asking the user for help. +# This option is also used when generating formulas in HTML. + +LATEX_BATCHMODE = NO + +# If LATEX_HIDE_INDICES is set to YES then doxygen will not +# include the index chapters (such as File Index, Compound Index, etc.) +# in the output. + +LATEX_HIDE_INDICES = NO + +#--------------------------------------------------------------------------- +# configuration options related to the RTF output +#--------------------------------------------------------------------------- + +# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output +# The RTF output is optimized for Word 97 and may not look very pretty with +# other RTF readers or editors. + +GENERATE_RTF = NO + +# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `rtf' will be used as the default path. + +RTF_OUTPUT = rtf + +# If the COMPACT_RTF tag is set to YES Doxygen generates more compact +# RTF documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_RTF = NO + +# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated +# will contain hyperlink fields. The RTF file will +# contain links (just like the HTML output) instead of page references. +# This makes the output suitable for online browsing using WORD or other +# programs which support those fields. +# Note: wordpad (write) and others do not support links. + +RTF_HYPERLINKS = NO + +# Load stylesheet definitions from file. Syntax is similar to doxygen's +# config file, i.e. a series of assignments. You only have to provide +# replacements, missing definitions are set to their default value. + +RTF_STYLESHEET_FILE = + +# Set optional variables used in the generation of an rtf document. +# Syntax is similar to doxygen's config file. + +RTF_EXTENSIONS_FILE = + +#--------------------------------------------------------------------------- +# configuration options related to the man page output +#--------------------------------------------------------------------------- + +# If the GENERATE_MAN tag is set to YES (the default) Doxygen will +# generate man pages + +GENERATE_MAN = NO + +# The MAN_OUTPUT tag is used to specify where the man pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `man' will be used as the default path. + +MAN_OUTPUT = man + +# The MAN_EXTENSION tag determines the extension that is added to +# the generated man pages (default is the subroutine's section .3) + +MAN_EXTENSION = .3 + +# If the MAN_LINKS tag is set to YES and Doxygen generates man output, +# then it will generate one additional man file for each entity +# documented in the real man page(s). These additional files +# only source the real man page, but without them the man command +# would be unable to find the correct page. The default is NO. + +MAN_LINKS = NO + +#--------------------------------------------------------------------------- +# configuration options related to the XML output +#--------------------------------------------------------------------------- + +# If the GENERATE_XML tag is set to YES Doxygen will +# generate an XML file that captures the structure of +# the code including all documentation. + +GENERATE_XML = NO + +# The XML_OUTPUT tag is used to specify where the XML pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `xml' will be used as the default path. + +XML_OUTPUT = xml + +# The XML_SCHEMA tag can be used to specify an XML schema, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_SCHEMA = + +# The XML_DTD tag can be used to specify an XML DTD, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_DTD = + +# If the XML_PROGRAMLISTING tag is set to YES Doxygen will +# dump the program listings (including syntax highlighting +# and cross-referencing information) to the XML output. Note that +# enabling this will significantly increase the size of the XML output. + +XML_PROGRAMLISTING = YES + +#--------------------------------------------------------------------------- +# configuration options for the AutoGen Definitions output +#--------------------------------------------------------------------------- + +# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will +# generate an AutoGen Definitions (see autogen.sf.net) file +# that captures the structure of the code including all +# documentation. Note that this feature is still experimental +# and incomplete at the moment. + +GENERATE_AUTOGEN_DEF = NO + +#--------------------------------------------------------------------------- +# configuration options related to the Perl module output +#--------------------------------------------------------------------------- + +# If the GENERATE_PERLMOD tag is set to YES Doxygen will +# generate a Perl module file that captures the structure of +# the code including all documentation. Note that this +# feature is still experimental and incomplete at the +# moment. + +GENERATE_PERLMOD = NO + +# If the PERLMOD_LATEX tag is set to YES Doxygen will generate +# the necessary Makefile rules, Perl scripts and LaTeX code to be able +# to generate PDF and DVI output from the Perl module output. + +PERLMOD_LATEX = NO + +# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be +# nicely formatted so it can be parsed by a human reader. This is useful +# if you want to understand what is going on. On the other hand, if this +# tag is set to NO the size of the Perl module output will be much smaller +# and Perl will parse it just the same. + +PERLMOD_PRETTY = YES + +# The names of the make variables in the generated doxyrules.make file +# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. +# This is useful so different doxyrules.make files included by the same +# Makefile don't overwrite each other's variables. + +PERLMOD_MAKEVAR_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the preprocessor +#--------------------------------------------------------------------------- + +# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will +# evaluate all C-preprocessor directives found in the sources and include +# files. + +ENABLE_PREPROCESSING = YES + +# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro +# names in the source code. If set to NO (the default) only conditional +# compilation will be performed. Macro expansion can be done in a controlled +# way by setting EXPAND_ONLY_PREDEF to YES. + +MACRO_EXPANSION = NO + +# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES +# then the macro expansion is limited to the macros specified with the +# PREDEFINED and EXPAND_AS_DEFINED tags. + +EXPAND_ONLY_PREDEF = NO + +# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files +# in the INCLUDE_PATH (see below) will be search if a #include is found. + +SEARCH_INCLUDES = YES + +# The INCLUDE_PATH tag can be used to specify one or more directories that +# contain include files that are not input files but should be processed by +# the preprocessor. + +INCLUDE_PATH = + +# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard +# patterns (like *.h and *.hpp) to filter out the header-files in the +# directories. If left blank, the patterns specified with FILE_PATTERNS will +# be used. + +INCLUDE_FILE_PATTERNS = + +# The PREDEFINED tag can be used to specify one or more macro names that +# are defined before the preprocessor is started (similar to the -D option of +# gcc). The argument of the tag is a list of macros of the form: name +# or name=definition (no spaces). If the definition and the = are +# omitted =1 is assumed. To prevent a macro definition from being +# undefined via #undef or recursively expanded use the := operator +# instead of the = operator. + +PREDEFINED = + +# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then +# this tag can be used to specify a list of macro names that should be expanded. +# The macro definition that is found in the sources will be used. +# Use the PREDEFINED tag if you want to use a different macro definition. + +EXPAND_AS_DEFINED = + +# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then +# doxygen's preprocessor will remove all function-like macros that are alone +# on a line, have an all uppercase name, and do not end with a semicolon. Such +# function macros are typically used for boiler-plate code, and will confuse +# the parser if not removed. + +SKIP_FUNCTION_MACROS = YES + +#--------------------------------------------------------------------------- +# Configuration::additions related to external references +#--------------------------------------------------------------------------- + +# The TAGFILES option can be used to specify one or more tagfiles. +# Optionally an initial location of the external documentation +# can be added for each tagfile. The format of a tag file without +# this location is as follows: +# TAGFILES = file1 file2 ... +# Adding location for the tag files is done as follows: +# TAGFILES = file1=loc1 "file2 = loc2" ... +# where "loc1" and "loc2" can be relative or absolute paths or +# URLs. If a location is present for each tag, the installdox tool +# does not have to be run to correct the links. +# Note that each tag file must have a unique name +# (where the name does NOT include the path) +# If a tag file is not located in the directory in which doxygen +# is run, you must also specify the path to the tagfile here. + +TAGFILES = + +# When a file name is specified after GENERATE_TAGFILE, doxygen will create +# a tag file that is based on the input files it reads. + +GENERATE_TAGFILE = + +# If the ALLEXTERNALS tag is set to YES all external classes will be listed +# in the class index. If set to NO only the inherited external classes +# will be listed. + +ALLEXTERNALS = NO + +# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed +# in the modules index. If set to NO, only the current project's groups will +# be listed. + +EXTERNAL_GROUPS = YES + +# The PERL_PATH should be the absolute path and name of the perl script +# interpreter (i.e. the result of `which perl'). + +PERL_PATH = /usr/bin/perl + +#--------------------------------------------------------------------------- +# Configuration options related to the dot tool +#--------------------------------------------------------------------------- + +# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will +# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base +# or super classes. Setting the tag to NO turns the diagrams off. Note that +# this option is superseded by the HAVE_DOT option below. This is only a +# fallback. It is recommended to install and use dot, since it yields more +# powerful graphs. + +CLASS_DIAGRAMS = YES + +# You can define message sequence charts within doxygen comments using the \msc +# command. Doxygen will then run the mscgen tool (see http://www.mcternan.me.uk/mscgen/) to +# produce the chart and insert it in the documentation. The MSCGEN_PATH tag allows you to +# specify the directory where the mscgen tool resides. If left empty the tool is assumed to +# be found in the default search path. + +MSCGEN_PATH = + +# If set to YES, the inheritance and collaboration graphs will hide +# inheritance and usage relations if the target is undocumented +# or is not a class. + +HIDE_UNDOC_RELATIONS = YES + +# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is +# available from the path. This tool is part of Graphviz, a graph visualization +# toolkit from AT&T and Lucent Bell Labs. The other options in this section +# have no effect if this option is set to NO (the default) + +HAVE_DOT = NO + +# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for each documented class showing the direct and +# indirect inheritance relations. Setting this tag to YES will force the +# the CLASS_DIAGRAMS tag to NO. + +CLASS_GRAPH = YES + +# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for each documented class showing the direct and +# indirect implementation dependencies (inheritance, containment, and +# class references variables) of the class with other documented classes. + +COLLABORATION_GRAPH = YES + +# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for groups, showing the direct groups dependencies + +GROUP_GRAPHS = YES + +# If the UML_LOOK tag is set to YES doxygen will generate inheritance and +# collaboration diagrams in a style similar to the OMG's Unified Modeling +# Language. + +UML_LOOK = NO + +# If set to YES, the inheritance and collaboration graphs will show the +# relations between templates and their instances. + +TEMPLATE_RELATIONS = NO + +# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT +# tags are set to YES then doxygen will generate a graph for each documented +# file showing the direct and indirect include dependencies of the file with +# other documented files. + +INCLUDE_GRAPH = YES + +# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and +# HAVE_DOT tags are set to YES then doxygen will generate a graph for each +# documented header file showing the documented files that directly or +# indirectly include this file. + +INCLUDED_BY_GRAPH = YES + +# If the CALL_GRAPH, SOURCE_BROWSER and HAVE_DOT tags are set to YES then doxygen will +# generate a call dependency graph for every global function or class method. +# Note that enabling this option will significantly increase the time of a run. +# So in most cases it will be better to enable call graphs for selected +# functions only using the \callgraph command. + +CALL_GRAPH = NO + +# If the CALLER_GRAPH, SOURCE_BROWSER and HAVE_DOT tags are set to YES then doxygen will +# generate a caller dependency graph for every global function or class method. +# Note that enabling this option will significantly increase the time of a run. +# So in most cases it will be better to enable caller graphs for selected +# functions only using the \callergraph command. + +CALLER_GRAPH = NO + +# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen +# will graphical hierarchy of all classes instead of a textual one. + +GRAPHICAL_HIERARCHY = YES + +# If the DIRECTORY_GRAPH, SHOW_DIRECTORIES and HAVE_DOT tags are set to YES +# then doxygen will show the dependencies a directory has on other directories +# in a graphical way. The dependency relations are determined by the #include +# relations between the files in the directories. + +DIRECTORY_GRAPH = YES + +# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images +# generated by dot. Possible values are png, jpg, or gif +# If left blank png will be used. + +DOT_IMAGE_FORMAT = png + +# The tag DOT_PATH can be used to specify the path where the dot tool can be +# found. If left blank, it is assumed the dot tool can be found in the path. + +DOT_PATH = + +# The DOTFILE_DIRS tag can be used to specify one or more directories that +# contain dot files that are included in the documentation (see the +# \dotfile command). + +DOTFILE_DIRS = + +# The MAX_DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of +# nodes that will be shown in the graph. If the number of nodes in a graph +# becomes larger than this value, doxygen will truncate the graph, which is +# visualized by representing a node as a red box. Note that doxygen if the number +# of direct children of the root node in a graph is already larger than +# MAX_DOT_GRAPH_NOTES then the graph will not be shown at all. Also note +# that the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH. + +DOT_GRAPH_MAX_NODES = 50 + +# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the +# graphs generated by dot. A depth value of 3 means that only nodes reachable +# from the root by following a path via at most 3 edges will be shown. Nodes +# that lay further from the root node will be omitted. Note that setting this +# option to 1 or 2 may greatly reduce the computation time needed for large +# code bases. Also note that the size of a graph can be further restricted by +# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction. + +MAX_DOT_GRAPH_DEPTH = 0 + +# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent +# background. This is disabled by default, which results in a white background. +# Warning: Depending on the platform used, enabling this option may lead to +# badly anti-aliased labels on the edges of a graph (i.e. they become hard to +# read). + +DOT_TRANSPARENT = NO + +# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output +# files in one run (i.e. multiple -o and -T options on the command line). This +# makes dot run faster, but since only newer versions of dot (>1.8.10) +# support this, this feature is disabled by default. + +DOT_MULTI_TARGETS = NO + +# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will +# generate a legend page explaining the meaning of the various boxes and +# arrows in the dot generated graphs. + +GENERATE_LEGEND = YES + +# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will +# remove the intermediate dot files that are used to generate +# the various graphs. + +DOT_CLEANUP = YES + +#--------------------------------------------------------------------------- +# Configuration::additions related to the search engine +#--------------------------------------------------------------------------- + +# The SEARCHENGINE tag specifies whether or not a search engine should be +# used. If set to NO the values of all tags below this one will be ignored. + +SEARCHENGINE = NO