From d98f46ce647846b0aa30b2e16a30fd4e152a1bf5 Mon Sep 17 00:00:00 2001 From: Carlos Maiolino Date: Thu, 10 Jul 2025 22:55:07 +0200 Subject: Add new code Signed-off-by: Carlos Maiolino --- .../examples/MultiStepper/MultiStepper.pde | 44 ++++++++++++++++++++++ 1 file changed, 44 insertions(+) create mode 100644 Arduino/libraries/AccelStepper/examples/MultiStepper/MultiStepper.pde (limited to 'Arduino/libraries/AccelStepper/examples/MultiStepper') 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 +#include + +// 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); +} -- cgit v1.2.3