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41 lines
1.0 KiB
41 lines
1.0 KiB
// 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: HRFMessage.h,v 1.1 2009/08/15 05:32:58 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 4 pins on 2, 3, 4, 5 |
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AccelStepper stepper2(4, 6, 7, 8, 9); |
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AccelStepper stepper3(2, 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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