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// DualMotorShield.pde
// -*- mode: C++ -*-
//
// Shows how to run 2 simultaneous steppers
// using the Itead Studio Arduino Dual Stepper Motor Driver Shield
// model IM120417015
// This shield is capable of driving 2 steppers at
// currents of up to 750mA
// and voltages up to 30V
// Runs both steppers forwards and backwards, accelerating and decelerating
// at the limits.
//
// Copyright (C) 2014 Mike McCauley
// $Id: $
#include <AccelStepper.h>
// The X Stepper pins
#define STEPPER1_DIR_PIN 3
#define STEPPER1_STEP_PIN 2
// The Y stepper pins
#define STEPPER2_DIR_PIN 7
#define STEPPER2_STEP_PIN 6
// Define some steppers and the pins the will use
AccelStepper stepper1(AccelStepper::DRIVER, STEPPER1_STEP_PIN, STEPPER1_DIR_PIN);
AccelStepper stepper2(AccelStepper::DRIVER, STEPPER2_STEP_PIN, STEPPER2_DIR_PIN);
void setup()
{
stepper1.setMaxSpeed(200.0);
stepper1.setAcceleration(200.0);
stepper1.moveTo(100);
stepper2.setMaxSpeed(100.0);
stepper2.setAcceleration(100.0);
stepper2.moveTo(100);
}
void loop()
{
// Change direction at the limits
if (stepper1.distanceToGo() == 0)
stepper1.moveTo(-stepper1.currentPosition());
if (stepper2.distanceToGo() == 0)
stepper2.moveTo(-stepper2.currentPosition());
stepper1.run();
stepper2.run();
}
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