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