1 files changed, 44 insertions, 0 deletions
diff --git a/Arduino/libraries/AccelStepper/examples/MultiStepper/MultiStepper.pde b/Arduino/libraries/AccelStepper/examples/MultiStepper/MultiStepper.pde
new file mode 100644
index 0000000..386c784
--- /dev/null
+++ b/Arduino/libraries/AccelStepper/examples/MultiStepper/MultiStepper.pde
@@ -0,0 +1,44 @@
+// MultiStepper.pde
+// -*- mode: C++ -*-
+// Use MultiStepper class to manage multiple steppers and make them all move to 
+// the same position at the same time for linear 2d (or 3d) motion.
+
+#include <AccelStepper.h>
+#include <MultiStepper.h>
+
+// EG X-Y position bed driven by 2 steppers
+// Alas its not possible to build an array of these with different pins for each :-(
+AccelStepper stepper1(AccelStepper::FULL4WIRE, 2, 3, 4, 5);
+AccelStepper stepper2(AccelStepper::FULL4WIRE, 8, 9, 10, 11);
+
+// Up to 10 steppers can be handled as a group by MultiStepper
+MultiStepper steppers;
+
+void setup() {
+  Serial.begin(9600);
+
+  // Configure each stepper
+  stepper1.setMaxSpeed(100);
+  stepper2.setMaxSpeed(100);
+
+  // Then give them to MultiStepper to manage
+  steppers.addStepper(stepper1);
+  steppers.addStepper(stepper2);
+}
+
+void loop() {
+  long positions[2]; // Array of desired stepper positions
+  
+  positions[0] = 1000;
+  positions[1] = 50;
+  steppers.moveTo(positions);
+  steppers.runSpeedToPosition(); // Blocks until all are in position
+  delay(1000);
+  
+  // Move to a different coordinate
+  positions[0] = -100;
+  positions[1] = 100;
+  steppers.moveTo(positions);
+  steppers.runSpeedToPosition(); // Blocks until all are in position
+  delay(1000);
+}