1 files changed, 28 insertions, 0 deletions
diff --git a/Arduino/libraries/AccelStepper/examples/Overshoot/Overshoot.pde b/Arduino/libraries/AccelStepper/examples/Overshoot/Overshoot.pde
new file mode 100644
index 0000000..7e16baf
--- /dev/null
+++ b/Arduino/libraries/AccelStepper/examples/Overshoot/Overshoot.pde
@@ -0,0 +1,28 @@
+// 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: Overshoot.pde,v 1.1 2011/01/05 01:51:01 mikem Exp mikem $
+
+#include <AccelStepper.h>
+
+// Define a stepper and the pins it will use
+AccelStepper stepper; // Defaults to AccelStepper::FULL4WIRE (4 pins) on 2, 3, 4, 5
+
+void setup()
+{  
+  stepper.setMaxSpeed(150);
+  stepper.setAcceleration(100);
+}
+
+void loop()
+{    
+  stepper.moveTo(500);
+  while (stepper.currentPosition() != 300) // Full speed up to 300
+    stepper.run();
+  stepper.runToNewPosition(0); // Cause an overshoot then back to 0
+}