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// Quickstop.pde
// -*- mode: C++ -*-
//
// Check stop handling.
// Calls stop() while the stepper is travelling at full speed, causing
// the stepper to stop as quickly as possible, within the constraints of the
// current acceleration.
//
// Copyright (C) 2012 Mike McCauley
// $Id: $
#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.stop(); // Stop as fast as possible: sets new target
stepper.runToPosition();
// Now stopped after quickstop
// Now go backwards
stepper.moveTo(-500);
while (stepper.currentPosition() != 0) // Full speed basck to 0
stepper.run();
stepper.stop(); // Stop as fast as possible: sets new target
stepper.runToPosition();
// Now stopped after quickstop
}
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