29 lines
751 B
Plaintext
29 lines
751 B
Plaintext
|
// 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
|
||
|
|
}
|