Stepdance Software Library

Library Overview

The Stepdance library provides a flexible architecture for motion control through several key components:

• BlockPorts: Unified interface for connecting components and routing data between them (see BlockPort and Core Components)
• Channels: Position state management and step/direction signal generation (see Channel and Channels)
• Input/Output Ports: Physical hardware interface for receiving and transmitting motion signals (see InputPort, OutputPort, and Input/Output Modules)
• Generators: Motion pattern and trajectory generation (see Generators)
• Kinematics: Coordinate system transformations (Cartesian, polar, CoreXY, etc.) (see Kinematics)
• Filters: Signal smoothing and noise reduction (see Filters)
• Interfaces: External protocol support (G-code, EiBotBoard, etc.) (see GCodeInterface, Eibotboard, and External Interfaces)
• Recording: Motion recording and playback functionality (see FourTrackRecorder, FourTrackPlayer, and Recording and Playback)
• Inputs: Physical input device handling (see AnalogInput, Button, Encoder, and Input Devices)

Getting Started

To get started with Stepdance programming:

1. Understand BlockPorts: BlockPorts are the fundamental communication mechanism between components. See the BlockPort class and Core Components module for details.
2. Configure Output Ports: Set up your physical output ports to send step/direction signals. See the OutputPort class and Input/Output Modules module for configuration.
3. Create Channels: Channels drive motors to target positions. See the Channel class and Channels module for setup and usage.
4. Add Motion Sources: Connect input ports, generators, or other motion sources to your channels. See Generators and Input Devices for available sources.

Module Organization

The library is organized into functional modules:

• Core Components — Core framework components
• Input/Output Modules — Hardware I/O interfaces
• Channels — Position control
• Generators — Motion generation
• Kinematics — Coordinate transformations
• Filters — Signal processing
• External Interfaces — External protocols
• Recording and Playback — Motion recording and playback
• Input Devices — Physical input devices
• Remote Procedure Call — Remote procedure calls
• Utilities — Helper functions and utilities

Code Examples

For complete working examples, see the Stepdance Example Index page, which includes:

• Core Concepts — analog input, encoders, I/O ports, motor configuration
• Motion & Drawing — pantograph, wheelbot, harmonograph
• Plotting & AxiDraw — plotter movement, recording, G-code
• Clay 3D Printer — clay printing and extrusion control
• Kinematics — coordinate transforms
• Legacy / Experimental — older sketches

Full Documentation

To learn more about the entire Stepdance platform vist stepdance.org