arduino stuffs
Diffstat (limited to 'libraries/AFMotor/examples/AFMotor_MultiStepper/AFMotor_MultiStepper.pde')
| -rwxr-xr-x | libraries/AFMotor/examples/AFMotor_MultiStepper/AFMotor_MultiStepper.pde | 56 |
1 files changed, 56 insertions, 0 deletions
diff --git a/libraries/AFMotor/examples/AFMotor_MultiStepper/AFMotor_MultiStepper.pde b/libraries/AFMotor/examples/AFMotor_MultiStepper/AFMotor_MultiStepper.pde new file mode 100755 index 0000000..d6db8b1 --- /dev/null +++ b/libraries/AFMotor/examples/AFMotor_MultiStepper/AFMotor_MultiStepper.pde @@ -0,0 +1,56 @@ +// MultiStepper +// -*- mode: C++ -*- +// +// Control both Stepper motors at the same time with different speeds +// and accelerations. +// Requires the AFMotor library (https://github.com/adafruit/Adafruit-Motor-Shield-library) +// And AccelStepper with AFMotor support (https://github.com/adafruit/AccelStepper) +// Public domain! + +#include <AccelStepper.h> +#include <AFMotor.h> + +// two stepper motors one on each port +AF_Stepper motor1(200, 1); +AF_Stepper motor2(200, 2); + +// you can change these to DOUBLE or INTERLEAVE or MICROSTEP! +// wrappers for the first motor! +void forwardstep1() { + motor1.onestep(FORWARD, SINGLE); +} +void backwardstep1() { + motor1.onestep(BACKWARD, SINGLE); +} +// wrappers for the second motor! +void forwardstep2() { + motor2.onestep(FORWARD, SINGLE); +} +void backwardstep2() { + motor2.onestep(BACKWARD, SINGLE); +} + +// Motor shield has two motor ports, now we'll wrap them in an AccelStepper object +AccelStepper stepper1(forwardstep1, backwardstep1); +AccelStepper stepper2(forwardstep2, backwardstep2); + +void setup() +{ + stepper1.setMaxSpeed(200.0); + stepper1.setAcceleration(100.0); + stepper1.moveTo(24); + + stepper2.setMaxSpeed(300.0); + stepper2.setAcceleration(100.0); + stepper2.moveTo(1000000); + +} + +void loop() +{ + // Change direction at the limits + if (stepper1.distanceToGo() == 0) + stepper1.moveTo(-stepper1.currentPosition()); + stepper1.run(); + stepper2.run(); +} |