A command move is for controlling a stepper motor based on the current position of the motor.
This method is only available when the motor is stopped.
"move [sign](step) [speed] [accel] [decel]"
※ Caution: there is no space between [sign] and (step)
Descriptions of the arguments are as follows:
| argument | description | mandatory/optional |
|---|---|---|
| sign | direction, "+"(forward) or "-"(reverse) | optional(default: "+") |
| step | the number of steps to move | mandatory |
| speed | speed(unit: pps) | optional |
| accel | acceleration(unit: pps/s) | optional |
| decel | deceleration(unit: pps/s) | optional |
The argument step is based on the current position of the motor.
If the decel(deceleration) is omitted, it is automatically set to the same value of the acceleration.
<?php
include_once "/lib/sd_spc.php";
spc_reset();
spc_sync_baud(115200);
$sid = 1;
spc_request_dev($sid, "set mode 4");
spc_request_dev($sid, "set vref stop 2");
spc_request_dev($sid, "set vref drive 8");
spc_request_dev($sid, "set rsnc 120 250");
spc_request_dev($sid, "move 800 400 800 0");
while((int)spc_request_dev($sid, "get state"))
usleep(1);
sleep(1);
spc_request_dev($sid, "move -800 400 0 800");
while((int)spc_request_dev($sid, "get state"))
usleep(1);
?>※ This command can be used only when the stepper motor is stopped. So, as in the example above, always program the move command to run after the motor is stopped.