42 lines
1.1 KiB
Plaintext
42 lines
1.1 KiB
Plaintext
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// MultiStepper.pde
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// -*- mode: C++ -*-
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//
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// Shows how to multiple simultaneous steppers
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// Runs one stepper forwards and backwards, accelerating and decelerating
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// at the limits. Runs other steppers at the same time
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//
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// Copyright (C) 2009 Mike McCauley
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// $Id: MultiStepper.pde,v 1.1 2011/01/05 01:51:01 mikem Exp mikem $
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#include <AccelStepper.h>
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// Define some steppers and the pins the will use
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AccelStepper stepper1; // Defaults to AccelStepper::FULL4WIRE (4 pins) on 2, 3, 4, 5
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AccelStepper stepper2(AccelStepper::FULL4WIRE, 6, 7, 8, 9);
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AccelStepper stepper3(AccelStepper::FULL2WIRE, 10, 11);
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void setup()
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{
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stepper1.setMaxSpeed(200.0);
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stepper1.setAcceleration(100.0);
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stepper1.moveTo(24);
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stepper2.setMaxSpeed(300.0);
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stepper2.setAcceleration(100.0);
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stepper2.moveTo(1000000);
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stepper3.setMaxSpeed(300.0);
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stepper3.setAcceleration(100.0);
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stepper3.moveTo(1000000);
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}
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void loop()
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{
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// Change direction at the limits
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if (stepper1.distanceToGo() == 0)
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stepper1.moveTo(-stepper1.currentPosition());
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stepper1.run();
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stepper2.run();
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stepper3.run();
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}
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