AsyncStepperRotator 0.5.0 API

All Implemented Interfaces:

crackers.kobots.parts.movement.async.AsyncActuator , crackers.kobots.parts.movement.async.AsyncRotator
```
public class AsyncStepperRotator
 implements AsyncRotator
                    
```
An asynchronous stepper rotator that smoothly rotates a stepper motor to a specified angle using easing functions.
This is built on top of BasicStepperRotator to provide asynchronous movement capabilities. The stepPause parameter is provided to introduce a delay between steps to prevent overdriving the stepper motor or driver circuits (e.g. "slow" response from the hardware).
NOTE The stepper is not automatically released after movement; it is assumed that holding torque is desired.

Nested Class Summary

Nested Classes
Modifier and Type	Class	Description

Field Summary

Fields
Modifier and Type	Field	Description
`private final BasicStepperRotator`	`wrapped`
`private final Integer`	`current`
`private final BasicStepperMotor`	`theStepper`

Constructor Summary

Constructors
Constructor	Description
`AsyncStepperRotator(BasicStepperMotor theStepper, Float gearRatio, Boolean reversed, BasicStepperController.StepStyle stepStyle, Duration stepPause)`

Enum Constant Summary

Enum Constants
Enum Constant	Description

Method Summary

Modifier and Type	Method	Description
`final BasicStepperRotator`	`getWrapped()`
`Integer`	`getCurrent()`	Return some notion of the "current" position/value of the actuator.
`final BasicStepperMotor`	`getTheStepper()`
`<Error class: unknown class>`	`rotateAsync(Integer angle, Duration time, Function1<Float, Float> easing)`	The basic asynchronous rotation function.
`Unit`	`release()`	Release the stepper motor, allowing it to be turned freely.

Methods inherited from class crackers.kobots.parts.movement.async.AsyncRotator
smoothMove, softLanding, softLaunch
Methods inherited from class crackers.kobots.parts.movement.async.AsyncActuator
myLittleKillSwitch, stopCheck
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - AsyncStepperRotator
```
AsyncStepperRotator(BasicStepperMotor theStepper, Float gearRatio, Boolean reversed, BasicStepperController.StepStyle stepStyle, Duration stepPause)
```
    Parameters:
    
    theStepper - The stepper motor to be controlled.
    
    gearRatio - The gear ratio of the stepper motor.
    
    reversed - Whether the stepper motor direction is reversed.
    
    stepStyle - The stepping style to use for the stepper motor.
    
    stepPause - The pause duration between steps (default is 0).
- Method Detail
  - getWrapped
```
 final BasicStepperRotator getWrapped()
```
  - getCurrent
```
 Integer getCurrent()
```
    Return some notion of the "current" position/value of the actuator.
  - getTheStepper
```
 final BasicStepperMotor getTheStepper()
```
  - rotateAsync
```
 <Error class: unknown class> rotateAsync(Integer angle, Duration time, Function1<Float, Float> easing)
```
    The basic asynchronous rotation function. It is "device dependent", which means accuracy may be suspect.
  - release
```
 Unit release()
```
    Release the stepper motor, allowing it to be turned freely.