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LICENSE
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GNU GENERAL PUBLIC LICENSE
Version 2, June 1991
This software is Copyright (C) 2008 Mike McCauley. Use is subject to license
conditions. The main licensing options available are GPL V2 or Commercial:
Copyright (C) 1989, 1991 Free Software Foundation, Inc., <http://fsf.org/>
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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// AFMotor_ConstantSpeed.pde
// -*- mode: C++ -*-
//
// Shows how to run AccelStepper in the simplest,
// fixed speed mode with no accelerations
// Requires the AFMotor library
// (https://github.com/adafruit/Adafruit-Motor-Shield-library)
// Caution, does not work with Adafruit Motor Shield V2
// See https://github.com/adafruit/Adafruit_Motor_Shield_V2_Library
// for examples that work with Adafruit Motor Shield V2.
#include <AccelStepper.h>
#include <AFMotor.h>
AF_Stepper motor1(200, 1);
// you can change these to DOUBLE or INTERLEAVE or MICROSTEP!
void forwardstep() {
motor1.onestep(FORWARD, SINGLE);
}
void backwardstep() {
motor1.onestep(BACKWARD, SINGLE);
}
AccelStepper stepper(forwardstep, backwardstep); // use functions to step
void setup()
{
Serial.begin(9600); // set up Serial library at 9600 bps
Serial.println("Stepper test!");
stepper.setMaxSpeed(50);
stepper.setSpeed(50);
}
void loop()
{
stepper.runSpeed();
}

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// AFMotor_MultiStepper.pde
// -*- 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)
// Caution, does not work with Adafruit Motor Shield V2
// See https://github.com/adafruit/Adafruit_Motor_Shield_V2_Library
// for examples that work with Adafruit Motor Shield V2.
#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();
}

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// Blocking.pde
// -*- mode: C++ -*-
//
// Shows how to use the blocking call runToNewPosition
// Which sets a new target position and then waits until the stepper has
// achieved it.
//
// Copyright (C) 2009 Mike McCauley
// $Id: Blocking.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(200.0);
stepper.setAcceleration(100.0);
}
void loop()
{
stepper.runToNewPosition(0);
stepper.runToNewPosition(500);
stepper.runToNewPosition(100);
stepper.runToNewPosition(120);
}

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// Bounce.pde
// -*- mode: C++ -*-
//
// Make a single stepper bounce from one limit to another
//
// Copyright (C) 2012 Mike McCauley
// $Id: Random.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()
{
// Change these to suit your stepper if you want
stepper.setMaxSpeed(100);
stepper.setAcceleration(20);
stepper.moveTo(500);
}
void loop()
{
// If at the end of travel go to the other end
if (stepper.distanceToGo() == 0)
stepper.moveTo(-stepper.currentPosition());
stepper.run();
}

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// ConstantSpeed.pde
// -*- mode: C++ -*-
//
// Shows how to run AccelStepper in the simplest,
// fixed speed mode with no accelerations
/// \author Mike McCauley (mikem@airspayce.com)
// Copyright (C) 2009 Mike McCauley
// $Id: ConstantSpeed.pde,v 1.1 2011/01/05 01:51:01 mikem Exp mikem $
#include <AccelStepper.h>
AccelStepper stepper; // Defaults to AccelStepper::FULL4WIRE (4 pins) on 2, 3, 4, 5
void setup()
{
stepper.setMaxSpeed(1000);
stepper.setSpeed(50);
}
void loop()
{
stepper.runSpeed();
}

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// DualMotorShield.pde
// -*- mode: C++ -*-
//
// Shows how to run 2 simultaneous steppers
// using the Itead Studio Arduino Dual Stepper Motor Driver Shield
// model IM120417015
// This shield is capable of driving 2 steppers at
// currents of up to 750mA
// and voltages up to 30V
// Runs both steppers forwards and backwards, accelerating and decelerating
// at the limits.
//
// Copyright (C) 2014 Mike McCauley
// $Id: $
#include <AccelStepper.h>
// The X Stepper pins
#define STEPPER1_DIR_PIN 3
#define STEPPER1_STEP_PIN 2
// The Y stepper pins
#define STEPPER2_DIR_PIN 7
#define STEPPER2_STEP_PIN 6
// Define some steppers and the pins the will use
AccelStepper stepper1(AccelStepper::DRIVER, STEPPER1_STEP_PIN, STEPPER1_DIR_PIN);
AccelStepper stepper2(AccelStepper::DRIVER, STEPPER2_STEP_PIN, STEPPER2_DIR_PIN);
void setup()
{
stepper1.setMaxSpeed(200.0);
stepper1.setAcceleration(200.0);
stepper1.moveTo(100);
stepper2.setMaxSpeed(100.0);
stepper2.setAcceleration(100.0);
stepper2.moveTo(100);
}
void loop()
{
// Change direction at the limits
if (stepper1.distanceToGo() == 0)
stepper1.moveTo(-stepper1.currentPosition());
if (stepper2.distanceToGo() == 0)
stepper2.moveTo(-stepper2.currentPosition());
stepper1.run();
stepper2.run();
}

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// AFMotor_ConstantSpeed.pde
// -*- mode: C++ -*-
//
// Shows how to use AccelStepper to control a 3-phase motor, such as a HDD spindle motor
// using the Adafruit Motor Shield
// http://www.ladyada.net/make/mshield/index.html.
// Create a subclass of AccelStepper which controls the motor pins via the
// Motor Shield serial-to-parallel interface
#include <AccelStepper.h>
// Arduino pin names for interface to 74HCT595 latch
// on Adafruit Motor Shield
#define MOTORLATCH 12
#define MOTORCLK 4
#define MOTORENABLE 7
#define MOTORDATA 8
// PWM pins, also used to enable motor outputs
#define PWM0A 5
#define PWM0B 6
#define PWM1A 9
#define PWM1B 10
#define PWM2A 11
#define PWM2B 3
// The main purpose of this class is to override setOutputPins to work with Adafruit Motor Shield
class AFMotorShield : public AccelStepper
{
public:
AFMotorShield(uint8_t interface = AccelStepper::FULL4WIRE, uint8_t pin1 = 2, uint8_t pin2 = 3, uint8_t pin3 = 4, uint8_t pin4 = 5);
virtual void setOutputPins(uint8_t mask);
};
AFMotorShield::AFMotorShield(uint8_t interface, uint8_t pin1, uint8_t pin2, uint8_t pin3, uint8_t pin4)
: AccelStepper(interface, pin1, pin2, pin3, pin4)
{
// Enable motor control serial to parallel latch
pinMode(MOTORLATCH, OUTPUT);
pinMode(MOTORENABLE, OUTPUT);
pinMode(MOTORDATA, OUTPUT);
pinMode(MOTORCLK, OUTPUT);
digitalWrite(MOTORENABLE, LOW);
// enable both H bridges on motor 1
pinMode(PWM2A, OUTPUT);
pinMode(PWM2B, OUTPUT);
pinMode(PWM0A, OUTPUT);
pinMode(PWM0B, OUTPUT);
digitalWrite(PWM2A, HIGH);
digitalWrite(PWM2B, HIGH);
digitalWrite(PWM0A, HIGH);
digitalWrite(PWM0B, HIGH);
setOutputPins(0); // Reset
};
// Use the AF Motor Shield serial-to-parallel to set the state of the motor pins
// Caution: the mapping of AccelStepper pins to AF motor outputs is not
// obvious:
// AccelStepper Motor Shield output
// pin1 M4A
// pin2 M1A
// pin3 M2A
// pin4 M3A
// Caution this is pretty slow and limits the max speed of the motor to about 500/3 rpm
void AFMotorShield::setOutputPins(uint8_t mask)
{
uint8_t i;
digitalWrite(MOTORLATCH, LOW);
digitalWrite(MOTORDATA, LOW);
for (i=0; i<8; i++)
{
digitalWrite(MOTORCLK, LOW);
if (mask & _BV(7-i))
digitalWrite(MOTORDATA, HIGH);
else
digitalWrite(MOTORDATA, LOW);
digitalWrite(MOTORCLK, HIGH);
}
digitalWrite(MOTORLATCH, HIGH);
}
AFMotorShield stepper(AccelStepper::HALF3WIRE, 0, 0, 0, 0); // 3 phase HDD spindle drive
void setup()
{
stepper.setMaxSpeed(500); // divide by 3 to get rpm
stepper.setAcceleration(80);
stepper.moveTo(10000000);
}
void loop()
{
stepper.run();
}

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

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

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// 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
}

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// ProportionalControl.pde
// -*- mode: C++ -*-
//
// Make a single stepper follow the analog value read from a pot or whatever
// The stepper will move at a constant speed to each newly set posiiton,
// depending on the value of the pot.
//
// Copyright (C) 2012 Mike McCauley
// $Id: ProportionalControl.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
// This defines the analog input pin for reading the control voltage
// Tested with a 10k linear pot between 5v and GND
#define ANALOG_IN A0
void setup()
{
stepper.setMaxSpeed(1000);
}
void loop()
{
// Read new position
int analog_in = analogRead(ANALOG_IN);
stepper.moveTo(analog_in);
stepper.setSpeed(100);
stepper.runSpeedToPosition();
}

40
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// Quickstop.pde
// -*- mode: C++ -*-
//
// Check stop handling.
// Calls stop() while the stepper is travelling at full speed, causing
// the stepper to stop as quickly as possible, within the constraints of the
// current acceleration.
//
// Copyright (C) 2012 Mike McCauley
// $Id: $
#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.stop(); // Stop as fast as possible: sets new target
stepper.runToPosition();
// Now stopped after quickstop
// Now go backwards
stepper.moveTo(-500);
while (stepper.currentPosition() != 0) // Full speed basck to 0
stepper.run();
stepper.stop(); // Stop as fast as possible: sets new target
stepper.runToPosition();
// Now stopped after quickstop
}

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// Random.pde
// -*- mode: C++ -*-
//
// Make a single stepper perform random changes in speed, position and acceleration
//
// Copyright (C) 2009 Mike McCauley
// $Id: Random.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()
{
}
void loop()
{
if (stepper.distanceToGo() == 0)
{
// Random change to speed, position and acceleration
// Make sure we dont get 0 speed or accelerations
delay(1000);
stepper.moveTo(rand() % 200);
stepper.setMaxSpeed((rand() % 200) + 1);
stepper.setAcceleration((rand() % 200) + 1);
}
stepper.run();
}

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<h1>AccelStepper.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// AccelStepper.h</span>
<a name="l00002"></a>00002 <span class="comment">//</span><span class="comment"></span>
<a name="l00003"></a>00003 <span class="comment">/// \mainpage AccelStepper library for Arduino</span>
<a name="l00004"></a>00004 <span class="comment">///</span>
<a name="l00005"></a>00005 <span class="comment">/// This is the Arduino AccelStepper library.</span>
<a name="l00006"></a>00006 <span class="comment">/// It provides an object-oriented interface for 2 or 4 pin stepper motors.</span>
<a name="l00007"></a>00007 <span class="comment">///</span>
<a name="l00008"></a>00008 <span class="comment">/// The standard Arduino IDE includes the Stepper library</span>
<a name="l00009"></a>00009 <span class="comment">/// (http://arduino.cc/en/Reference/Stepper) for stepper motors. It is</span>
<a name="l00010"></a>00010 <span class="comment">/// perfectly adequate for simple, single motor applications.</span>
<a name="l00011"></a>00011 <span class="comment">///</span>
<a name="l00012"></a>00012 <span class="comment">/// AccelStepper significantly improves on the standard Arduino Stepper library in several ways:</span>
<a name="l00013"></a>00013 <span class="comment">/// \li Supports acceleration and deceleration</span>
<a name="l00014"></a>00014 <span class="comment">/// \li Supports multiple simultaneous steppers, with independent concurrent stepping on each stepper</span>
<a name="l00015"></a>00015 <span class="comment">/// \li API functions never delay() or block</span>
<a name="l00016"></a>00016 <span class="comment">/// \li Supports 2 and 4 wire steppers, plus 4 wire half steppers.</span>
<a name="l00017"></a>00017 <span class="comment">/// \li Supports alternate stepping functions to enable support of AFMotor (https://github.com/adafruit/Adafruit-Motor-Shield-library)</span>
<a name="l00018"></a>00018 <span class="comment">/// \li Supports stepper drivers such as the Sparkfun EasyDriver (based on 3967 driver chip)</span>
<a name="l00019"></a>00019 <span class="comment">/// \li Very slow speeds are supported</span>
<a name="l00020"></a>00020 <span class="comment">/// \li Extensive API</span>
<a name="l00021"></a>00021 <span class="comment">/// \li Subclass support</span>
<a name="l00022"></a>00022 <span class="comment">///</span>
<a name="l00023"></a>00023 <span class="comment">/// The latest version of this documentation can be downloaded from </span>
<a name="l00024"></a>00024 <span class="comment">/// http://www.open.com.au/mikem/arduino/AccelStepper</span>
<a name="l00025"></a>00025 <span class="comment">///</span>
<a name="l00026"></a>00026 <span class="comment">/// Example Arduino programs are included to show the main modes of use.</span>
<a name="l00027"></a>00027 <span class="comment">///</span>
<a name="l00028"></a>00028 <span class="comment">/// The version of the package that this documentation refers to can be downloaded </span>
<a name="l00029"></a>00029 <span class="comment">/// from http://www.open.com.au/mikem/arduino/AccelStepper/AccelStepper-1.11.zip</span>
<a name="l00030"></a>00030 <span class="comment">/// You can find the latest version at http://www.open.com.au/mikem/arduino/AccelStepper</span>
<a name="l00031"></a>00031 <span class="comment">///</span>
<a name="l00032"></a>00032 <span class="comment">/// Tested on Arduino Diecimila and Mega with arduino-0018 &amp; arduino-0021 </span>
<a name="l00033"></a>00033 <span class="comment">/// on OpenSuSE 11.1 and avr-libc-1.6.1-1.15,</span>
<a name="l00034"></a>00034 <span class="comment">/// cross-avr-binutils-2.19-9.1, cross-avr-gcc-4.1.3_20080612-26.5.</span>
<a name="l00035"></a>00035 <span class="comment">///</span>
<a name="l00036"></a>00036 <span class="comment">/// \par Installation</span>
<a name="l00037"></a>00037 <span class="comment">/// Install in the usual way: unzip the distribution zip file to the libraries</span>
<a name="l00038"></a>00038 <span class="comment">/// sub-folder of your sketchbook. </span>
<a name="l00039"></a>00039 <span class="comment">///</span>
<a name="l00040"></a>00040 <span class="comment">/// This software is Copyright (C) 2010 Mike McCauley. Use is subject to license</span>
<a name="l00041"></a>00041 <span class="comment">/// conditions. The main licensing options available are GPL V2 or Commercial:</span>
<a name="l00042"></a>00042 <span class="comment">/// </span>
<a name="l00043"></a>00043 <span class="comment">/// \par Open Source Licensing GPL V2</span>
<a name="l00044"></a>00044 <span class="comment">/// This is the appropriate option if you want to share the source code of your</span>
<a name="l00045"></a>00045 <span class="comment">/// application with everyone you distribute it to, and you also want to give them</span>
<a name="l00046"></a>00046 <span class="comment">/// the right to share who uses it. If you wish to use this software under Open</span>
<a name="l00047"></a>00047 <span class="comment">/// Source Licensing, you must contribute all your source code to the open source</span>
<a name="l00048"></a>00048 <span class="comment">/// community in accordance with the GPL Version 2 when your application is</span>
<a name="l00049"></a>00049 <span class="comment">/// distributed. See http://www.gnu.org/copyleft/gpl.html</span>
<a name="l00050"></a>00050 <span class="comment">/// </span>
<a name="l00051"></a>00051 <span class="comment">/// \par Commercial Licensing</span>
<a name="l00052"></a>00052 <span class="comment">/// This is the appropriate option if you are creating proprietary applications</span>
<a name="l00053"></a>00053 <span class="comment">/// and you are not prepared to distribute and share the source code of your</span>
<a name="l00054"></a>00054 <span class="comment">/// application. Contact info@open.com.au for details.</span>
<a name="l00055"></a>00055 <span class="comment">///</span>
<a name="l00056"></a>00056 <span class="comment">/// \par Revision History</span>
<a name="l00057"></a>00057 <span class="comment">/// \version 1.0 Initial release</span>
<a name="l00058"></a>00058 <span class="comment">///</span>
<a name="l00059"></a>00059 <span class="comment">/// \version 1.1 Added speed() function to get the current speed.</span>
<a name="l00060"></a>00060 <span class="comment">/// \version 1.2 Added runSpeedToPosition() submitted by Gunnar Arndt.</span>
<a name="l00061"></a>00061 <span class="comment">/// \version 1.3 Added support for stepper drivers (ie with Step and Direction inputs) with _pins == 1</span>
<a name="l00062"></a>00062 <span class="comment">/// \version 1.4 Added functional contructor to support AFMotor, contributed by Limor, with example sketches.</span>
<a name="l00063"></a>00063 <span class="comment">/// \version 1.5 Improvements contributed by Peter Mousley: Use of microsecond steps and other speed improvements</span>
<a name="l00064"></a>00064 <span class="comment">/// to increase max stepping speed to about 4kHz. New option for user to set the min allowed pulse width.</span>
<a name="l00065"></a>00065 <span class="comment">/// Added checks for already running at max speed and skip further calcs if so. </span>
<a name="l00066"></a>00066 <span class="comment">/// \version 1.6 Fixed a problem with wrapping of microsecond stepping that could cause stepping to hang. </span>
<a name="l00067"></a>00067 <span class="comment">/// Reported by Sandy Noble.</span>
<a name="l00068"></a>00068 <span class="comment">/// Removed redundant _lastRunTime member.</span>
<a name="l00069"></a>00069 <span class="comment">/// \version 1.7 Fixed a bug where setCurrentPosition() did always work as expected. Reported by Peter Linhart.</span>
<a name="l00070"></a>00070 <span class="comment">/// Reported by Sandy Noble.</span>
<a name="l00071"></a>00071 <span class="comment">/// Removed redundant _lastRunTime member.</span>
<a name="l00072"></a>00072 <span class="comment">/// \version 1.8 Added support for 4 pin half-steppers, requested by Harvey Moon</span>
<a name="l00073"></a>00073 <span class="comment">/// \version 1.9 setCurrentPosition() now also sets motor speed to 0.</span>
<a name="l00074"></a>00074 <span class="comment">/// \version 1.10 Builds on Arduino 1.0</span>
<a name="l00075"></a>00075 <span class="comment">/// \version 1.11 Improvments from Michael Ellison:</span>
<a name="l00076"></a>00076 <span class="comment">/// Added optional enable line support for stepper drivers</span>
<a name="l00077"></a>00077 <span class="comment">/// Added inversion for step/direction/enable lines for stepper drivers</span>
<a name="l00078"></a>00078 <span class="comment">///</span>
<a name="l00079"></a>00079 <span class="comment">/// \author Mike McCauley (mikem@open.com.au)</span>
<a name="l00080"></a>00080 <span class="comment"></span><span class="comment">// Copyright (C) 2009 Mike McCauley</span>
<a name="l00081"></a>00081 <span class="comment">// $Id: AccelStepper.h,v 1.5 2011/03/21 00:42:15 mikem Exp mikem $</span>
<a name="l00082"></a>00082
<a name="l00083"></a>00083 <span class="preprocessor">#ifndef AccelStepper_h</span>
<a name="l00084"></a>00084 <span class="preprocessor"></span><span class="preprocessor">#define AccelStepper_h</span>
<a name="l00085"></a>00085 <span class="preprocessor"></span>
<a name="l00086"></a>00086 <span class="preprocessor">#include &lt;stdlib.h&gt;</span>
<a name="l00087"></a>00087 <span class="preprocessor">#if ARDUINO &gt;= 100</span>
<a name="l00088"></a>00088 <span class="preprocessor"></span><span class="preprocessor">#include &lt;Arduino.h&gt;</span>
<a name="l00089"></a>00089 <span class="preprocessor">#else</span>
<a name="l00090"></a>00090 <span class="preprocessor"></span><span class="preprocessor">#include &lt;wiring.h&gt;</span>
<a name="l00091"></a>00091 <span class="preprocessor">#endif</span>
<a name="l00092"></a>00092 <span class="preprocessor"></span>
<a name="l00093"></a>00093 <span class="comment">// These defs cause trouble on some versions of Arduino</span>
<a name="l00094"></a>00094 <span class="preprocessor">#undef round</span>
<a name="l00095"></a>00095 <span class="preprocessor"></span><span class="comment"></span>
<a name="l00096"></a>00096 <span class="comment">/////////////////////////////////////////////////////////////////////</span>
<a name="l00097"></a>00097 <span class="comment">/// \class AccelStepper AccelStepper.h &lt;AccelStepper.h&gt;</span>
<a name="l00098"></a>00098 <span class="comment">/// \brief Support for stepper motors with acceleration etc.</span>
<a name="l00099"></a>00099 <span class="comment">///</span>
<a name="l00100"></a>00100 <span class="comment">/// This defines a single 2 or 4 pin stepper motor, or stepper moter with fdriver chip, with optional</span>
<a name="l00101"></a>00101 <span class="comment">/// acceleration, deceleration, absolute positioning commands etc. Multiple</span>
<a name="l00102"></a>00102 <span class="comment">/// simultaneous steppers are supported, all moving </span>
<a name="l00103"></a>00103 <span class="comment">/// at different speeds and accelerations. </span>
<a name="l00104"></a>00104 <span class="comment">///</span>
<a name="l00105"></a>00105 <span class="comment">/// \par Operation</span>
<a name="l00106"></a>00106 <span class="comment">/// This module operates by computing a step time in microseconds. The step</span>
<a name="l00107"></a>00107 <span class="comment">/// time is recomputed after each step and after speed and acceleration</span>
<a name="l00108"></a>00108 <span class="comment">/// parameters are changed by the caller. The time of each step is recorded in</span>
<a name="l00109"></a>00109 <span class="comment">/// microseconds. The run() function steps the motor if a new step is due.</span>
<a name="l00110"></a>00110 <span class="comment">/// The run() function must be called frequently until the motor is in the</span>
<a name="l00111"></a>00111 <span class="comment">/// desired position, after which time run() will do nothing.</span>
<a name="l00112"></a>00112 <span class="comment">///</span>
<a name="l00113"></a>00113 <span class="comment">/// \par Positioning</span>
<a name="l00114"></a>00114 <span class="comment">/// Positions are specified by a signed long integer. At</span>
<a name="l00115"></a>00115 <span class="comment">/// construction time, the current position of the motor is consider to be 0. Positive</span>
<a name="l00116"></a>00116 <span class="comment">/// positions are clockwise from the initial position; negative positions are</span>
<a name="l00117"></a>00117 <span class="comment">/// anticlockwise. The curent position can be altered for instance after</span>
<a name="l00118"></a>00118 <span class="comment">/// initialization positioning.</span>
<a name="l00119"></a>00119 <span class="comment">///</span>
<a name="l00120"></a>00120 <span class="comment">/// \par Caveats</span>
<a name="l00121"></a>00121 <span class="comment">/// This is an open loop controller: If the motor stalls or is oversped,</span>
<a name="l00122"></a>00122 <span class="comment">/// AccelStepper will not have a correct </span>
<a name="l00123"></a>00123 <span class="comment">/// idea of where the motor really is (since there is no feedback of the motor's</span>
<a name="l00124"></a>00124 <span class="comment">/// real position. We only know where we _think_ it is, relative to the</span>
<a name="l00125"></a>00125 <span class="comment">/// initial starting point).</span>
<a name="l00126"></a>00126 <span class="comment">///</span>
<a name="l00127"></a>00127 <span class="comment">/// The fastest motor speed that can be reliably supported is 4000 steps per</span>
<a name="l00128"></a>00128 <span class="comment">/// second (4 kHz) at a clock frequency of 16 MHz. However, any speed less than that</span>
<a name="l00129"></a>00129 <span class="comment">/// down to very slow speeds (much less than one per second) are also supported,</span>
<a name="l00130"></a>00130 <span class="comment">/// provided the run() function is called frequently enough to step the motor</span>
<a name="l00131"></a>00131 <span class="comment">/// whenever required for the speed set.</span>
<a name="l00132"></a><a class="code" href="classAccelStepper.html">00132</a> <span class="comment"></span><span class="keyword">class </span><a class="code" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc.">AccelStepper</a>
<a name="l00133"></a>00133 {
<a name="l00134"></a>00134 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00135"></a>00135 <span class="comment"> /// Constructor. You can have multiple simultaneous steppers, all moving</span>
<a name="l00136"></a>00136 <span class="comment"> /// at different speeds and accelerations, provided you call their run()</span>
<a name="l00137"></a>00137 <span class="comment"> /// functions at frequent enough intervals. Current Position is set to 0, target</span>
<a name="l00138"></a>00138 <span class="comment"> /// position is set to 0. MaxSpeed and Acceleration default to 1.0.</span>
<a name="l00139"></a>00139 <span class="comment"> /// The motor pins will be initialised to OUTPUT mode during the</span>
<a name="l00140"></a>00140 <span class="comment"> /// constructor by a call to enableOutputs().</span>
<a name="l00141"></a>00141 <span class="comment"> /// \param[in] pins Number of pins to interface to. 1, 2 or 4 are</span>
<a name="l00142"></a>00142 <span class="comment"> /// supported. 1 means a stepper driver (with Step and Direction pins).</span>
<a name="l00143"></a>00143 <span class="comment"> /// If an enable line is also needed, call setEnablePin() after construction.</span>
<a name="l00144"></a>00144 <span class="comment"> /// You may also invert the pins using setPinsInverted().</span>
<a name="l00145"></a>00145 <span class="comment"> /// 2 means a 2 wire stepper. 4 means a 4 wire stepper. 8 means a 4 wire half stepper</span>
<a name="l00146"></a>00146 <span class="comment"> /// Defaults to 4 pins.</span>
<a name="l00147"></a>00147 <span class="comment"> /// \param[in] pin1 Arduino digital pin number for motor pin 1. Defaults</span>
<a name="l00148"></a>00148 <span class="comment"> /// to pin 2. For a driver (pins==1), this is the Step input to the driver. Low to high transition means to step)</span>
<a name="l00149"></a>00149 <span class="comment"> /// \param[in] pin2 Arduino digital pin number for motor pin 2. Defaults</span>
<a name="l00150"></a>00150 <span class="comment"> /// to pin 3. For a driver (pins==1), this is the Direction input the driver. High means forward.</span>
<a name="l00151"></a>00151 <span class="comment"> /// \param[in] pin3 Arduino digital pin number for motor pin 3. Defaults</span>
<a name="l00152"></a>00152 <span class="comment"> /// to pin 4.</span>
<a name="l00153"></a>00153 <span class="comment"> /// \param[in] pin4 Arduino digital pin number for motor pin 4. Defaults</span>
<a name="l00154"></a>00154 <span class="comment"> /// to pin 5.</span>
<a name="l00155"></a>00155 <span class="comment"></span> <a class="code" href="classAccelStepper.html#a1290897df35915069e5eca9d034038c">AccelStepper</a>(uint8_t pins = 4, uint8_t pin1 = 2, uint8_t pin2 = 3, uint8_t pin3 = 4, uint8_t pin4 = 5);
<a name="l00156"></a>00156 <span class="comment"></span>
<a name="l00157"></a>00157 <span class="comment"> /// Alternate Constructor which will call your own functions for forward and backward steps. </span>
<a name="l00158"></a>00158 <span class="comment"> /// You can have multiple simultaneous steppers, all moving</span>
<a name="l00159"></a>00159 <span class="comment"> /// at different speeds and accelerations, provided you call their run()</span>
<a name="l00160"></a>00160 <span class="comment"> /// functions at frequent enough intervals. Current Position is set to 0, target</span>
<a name="l00161"></a>00161 <span class="comment"> /// position is set to 0. MaxSpeed and Acceleration default to 1.0.</span>
<a name="l00162"></a>00162 <span class="comment"> /// Any motor initialization should happen before hand, no pins are used or initialized.</span>
<a name="l00163"></a>00163 <span class="comment"> /// \param[in] forward void-returning procedure that will make a forward step</span>
<a name="l00164"></a>00164 <span class="comment"> /// \param[in] backward void-returning procedure that will make a backward step</span>
<a name="l00165"></a>00165 <span class="comment"></span> <a class="code" href="classAccelStepper.html#a1290897df35915069e5eca9d034038c">AccelStepper</a>(<span class="keywordtype">void</span> (*forward)(), <span class="keywordtype">void</span> (*backward)());
<a name="l00166"></a>00166 <span class="comment"></span>
<a name="l00167"></a>00167 <span class="comment"> /// Set the target position. The run() function will try to move the motor</span>
<a name="l00168"></a>00168 <span class="comment"> /// from the current position to the target position set by the most</span>
<a name="l00169"></a>00169 <span class="comment"> /// recent call to this function.</span>
<a name="l00170"></a>00170 <span class="comment"> /// \param[in] absolute The desired absolute position. Negative is</span>
<a name="l00171"></a>00171 <span class="comment"> /// anticlockwise from the 0 position.</span>
<a name="l00172"></a>00172 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#ce236ede35f87c63d18da25810ec9736">moveTo</a>(<span class="keywordtype">long</span> absolute);
<a name="l00173"></a>00173 <span class="comment"></span>
<a name="l00174"></a>00174 <span class="comment"> /// Set the target position relative to the current position</span>
<a name="l00175"></a>00175 <span class="comment"> /// \param[in] relative The desired position relative to the current position. Negative is</span>
<a name="l00176"></a>00176 <span class="comment"> /// anticlockwise from the current position.</span>
<a name="l00177"></a>00177 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#68942c66e78fb7f7b5f0cdade6eb7f06">move</a>(<span class="keywordtype">long</span> relative);
<a name="l00178"></a>00178 <span class="comment"></span>
<a name="l00179"></a>00179 <span class="comment"> /// Poll the motor and step it if a step is due, implementing</span>
<a name="l00180"></a>00180 <span class="comment"> /// accelerations and decelerations to achive the ratget position. You must call this as</span>
<a name="l00181"></a>00181 <span class="comment"> /// fequently as possible, but at least once per minimum step interval,</span>
<a name="l00182"></a>00182 <span class="comment"> /// preferably in your main loop.</span>
<a name="l00183"></a>00183 <span class="comment"> /// \return true if the motor is at the target position.</span>
<a name="l00184"></a>00184 <span class="comment"></span> <span class="keywordtype">boolean</span> <a class="code" href="classAccelStepper.html#608b2395b64ac15451d16d0371fe13ce">run</a>();
<a name="l00185"></a>00185 <span class="comment"></span>
<a name="l00186"></a>00186 <span class="comment"> /// Poll the motor and step it if a step is due, implmenting a constant</span>
<a name="l00187"></a>00187 <span class="comment"> /// speed as set by the most recent call to setSpeed().</span>
<a name="l00188"></a>00188 <span class="comment"> /// \return true if the motor was stepped.</span>
<a name="l00189"></a>00189 <span class="comment"></span> <span class="keywordtype">boolean</span> <a class="code" href="classAccelStepper.html#a4a6bdf99f698284faaeb5542b0b7514">runSpeed</a>();
<a name="l00190"></a>00190 <span class="comment"></span>
<a name="l00191"></a>00191 <span class="comment"> /// Sets the maximum permitted speed. the run() function will accelerate</span>
<a name="l00192"></a>00192 <span class="comment"> /// up to the speed set by this function.</span>
<a name="l00193"></a>00193 <span class="comment"> /// \param[in] speed The desired maximum speed in steps per second. Must</span>
<a name="l00194"></a>00194 <span class="comment"> /// be &gt; 0. Speeds of more than 1000 steps per second are unreliable. </span>
<a name="l00195"></a>00195 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#bee8d466229b87accba33d6ec929c18f">setMaxSpeed</a>(<span class="keywordtype">float</span> <a class="code" href="classAccelStepper.html#4f0989d0ae264e7eadfe1fa720769fb6">speed</a>);
<a name="l00196"></a>00196 <span class="comment"></span>
<a name="l00197"></a>00197 <span class="comment"> /// Sets the acceleration and deceleration parameter.</span>
<a name="l00198"></a>00198 <span class="comment"> /// \param[in] acceleration The desired acceleration in steps per second</span>
<a name="l00199"></a>00199 <span class="comment"> /// per second. Must be &gt; 0.</span>
<a name="l00200"></a>00200 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#dfb19e3cd2a028a1fe78131787604fd1">setAcceleration</a>(<span class="keywordtype">float</span> acceleration);
<a name="l00201"></a>00201 <span class="comment"></span>
<a name="l00202"></a>00202 <span class="comment"> /// Sets the desired constant speed for use with runSpeed().</span>
<a name="l00203"></a>00203 <span class="comment"> /// \param[in] speed The desired constant speed in steps per</span>
<a name="l00204"></a>00204 <span class="comment"> /// second. Positive is clockwise. Speeds of more than 1000 steps per</span>
<a name="l00205"></a>00205 <span class="comment"> /// second are unreliable. Very slow speeds may be set (eg 0.00027777 for</span>
<a name="l00206"></a>00206 <span class="comment"> /// once per hour, approximately. Speed accuracy depends on the Arduino</span>
<a name="l00207"></a>00207 <span class="comment"> /// crystal. Jitter depends on how frequently you call the runSpeed() function.</span>
<a name="l00208"></a>00208 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#e79c49ad69d5ccc9da0ee691fa4ca235">setSpeed</a>(<span class="keywordtype">float</span> speed);
<a name="l00209"></a>00209 <span class="comment"></span>
<a name="l00210"></a>00210 <span class="comment"> /// The most recently set speed</span>
<a name="l00211"></a>00211 <span class="comment"> /// \return the most recent speed in steps per second</span>
<a name="l00212"></a>00212 <span class="comment"></span> <span class="keywordtype">float</span> <a class="code" href="classAccelStepper.html#4f0989d0ae264e7eadfe1fa720769fb6">speed</a>();
<a name="l00213"></a>00213 <span class="comment"></span>
<a name="l00214"></a>00214 <span class="comment"> /// The distance from the current position to the target position.</span>
<a name="l00215"></a>00215 <span class="comment"> /// \return the distance from the current position to the target position</span>
<a name="l00216"></a>00216 <span class="comment"> /// in steps. Positive is clockwise from the current position.</span>
<a name="l00217"></a>00217 <span class="comment"></span> <span class="keywordtype">long</span> <a class="code" href="classAccelStepper.html#748665c3962e66fbc0e9373eb14c69c1">distanceToGo</a>();
<a name="l00218"></a>00218 <span class="comment"></span>
<a name="l00219"></a>00219 <span class="comment"> /// The most recently set target position.</span>
<a name="l00220"></a>00220 <span class="comment"> /// \return the target position</span>
<a name="l00221"></a>00221 <span class="comment"> /// in steps. Positive is clockwise from the 0 position.</span>
<a name="l00222"></a>00222 <span class="comment"></span> <span class="keywordtype">long</span> <a class="code" href="classAccelStepper.html#96685e0945b7cf75d5959da679cd911e">targetPosition</a>();
<a name="l00223"></a>00223
<a name="l00224"></a>00224 <span class="comment"></span>
<a name="l00225"></a>00225 <span class="comment"> /// The currently motor position.</span>
<a name="l00226"></a>00226 <span class="comment"> /// \return the current motor position</span>
<a name="l00227"></a>00227 <span class="comment"> /// in steps. Positive is clockwise from the 0 position.</span>
<a name="l00228"></a>00228 <span class="comment"></span> <span class="keywordtype">long</span> <a class="code" href="classAccelStepper.html#5dce13ab2a1b02b8f443318886bf6fc5">currentPosition</a>();
<a name="l00229"></a>00229 <span class="comment"></span>
<a name="l00230"></a>00230 <span class="comment"> /// Resets the current position of the motor, so that wherever the motor</span>
<a name="l00231"></a>00231 <span class="comment"> /// happens to be right now is considered to be the new 0 position. Useful</span>
<a name="l00232"></a>00232 <span class="comment"> /// for setting a zero position on a stepper after an initial hardware</span>
<a name="l00233"></a>00233 <span class="comment"> /// positioning move.</span>
<a name="l00234"></a>00234 <span class="comment"> /// Has the side effect of setting the current motor speed to 0.</span>
<a name="l00235"></a>00235 <span class="comment"> /// \param[in] position The position in steps of wherever the motor</span>
<a name="l00236"></a>00236 <span class="comment"> /// happens to be right now.</span>
<a name="l00237"></a>00237 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#9d917f014317fb9d3b5dc14e66f6c689">setCurrentPosition</a>(<span class="keywordtype">long</span> position);
<a name="l00238"></a>00238 <span class="comment"></span>
<a name="l00239"></a>00239 <span class="comment"> /// Moves the motor to the target position and blocks until it is at</span>
<a name="l00240"></a>00240 <span class="comment"> /// position. Dont use this in event loops, since it blocks.</span>
<a name="l00241"></a>00241 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#344f58fef8cc34ac5aa75ba4b665d21c">runToPosition</a>();
<a name="l00242"></a>00242 <span class="comment"></span>
<a name="l00243"></a>00243 <span class="comment"> /// Runs at the currently selected speed until the target position is reached</span>
<a name="l00244"></a>00244 <span class="comment"> /// Does not implement accelerations.</span>
<a name="l00245"></a>00245 <span class="comment"></span> <span class="keywordtype">boolean</span> <a class="code" href="classAccelStepper.html#9270d20336e76ac1fd5bcd5b9c34f301">runSpeedToPosition</a>();
<a name="l00246"></a>00246 <span class="comment"></span>
<a name="l00247"></a>00247 <span class="comment"> /// Moves the motor to the new target position and blocks until it is at</span>
<a name="l00248"></a>00248 <span class="comment"> /// position. Dont use this in event loops, since it blocks.</span>
<a name="l00249"></a>00249 <span class="comment"> /// \param[in] position The new target position.</span>
<a name="l00250"></a>00250 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#176c5d2e4c2f21e9e92b12e39a6f0e67">runToNewPosition</a>(<span class="keywordtype">long</span> position);
<a name="l00251"></a>00251 <span class="comment"></span>
<a name="l00252"></a>00252 <span class="comment"> /// Disable motor pin outputs by setting them all LOW</span>
<a name="l00253"></a>00253 <span class="comment"> /// Depending on the design of your electronics this may turn off</span>
<a name="l00254"></a>00254 <span class="comment"> /// the power to the motor coils, saving power.</span>
<a name="l00255"></a>00255 <span class="comment"> /// This is useful to support Arduino low power modes: disable the outputs</span>
<a name="l00256"></a>00256 <span class="comment"> /// during sleep and then reenable with enableOutputs() before stepping</span>
<a name="l00257"></a>00257 <span class="comment"> /// again.</span>
<a name="l00258"></a>00258 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#3591e29a236e2935afd7f64ff6c22006">disableOutputs</a>();
<a name="l00259"></a>00259 <span class="comment"></span>
<a name="l00260"></a>00260 <span class="comment"> /// Enable motor pin outputs by setting the motor pins to OUTPUT</span>
<a name="l00261"></a>00261 <span class="comment"> /// mode. Called automatically by the constructor.</span>
<a name="l00262"></a>00262 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#a279a50d30d0413f570c692cff071643">enableOutputs</a>();
<a name="l00263"></a>00263 <span class="comment"></span>
<a name="l00264"></a>00264 <span class="comment"> /// Sets the minimum pulse width allowed by the stepper driver.</span>
<a name="l00265"></a>00265 <span class="comment"> /// \param[in] minWidth The minimum pulse width in microseconds.</span>
<a name="l00266"></a>00266 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#f4d3818e691dad5dc518308796ccf154">setMinPulseWidth</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> minWidth);
<a name="l00267"></a>00267 <span class="comment"></span>
<a name="l00268"></a>00268 <span class="comment"> /// Sets the enable pin number for stepper drivers.</span>
<a name="l00269"></a>00269 <span class="comment"> /// 0xFF indicates unused (default).</span>
<a name="l00270"></a>00270 <span class="comment"> /// Otherwise, if a pin is set, the pin will be turned on when </span>
<a name="l00271"></a>00271 <span class="comment"> /// enableOutputs() is called and switched off when disableOutputs() </span>
<a name="l00272"></a>00272 <span class="comment"> /// is called.</span>
<a name="l00273"></a>00273 <span class="comment"> /// \param[in] enablePin Arduino digital pin number for motor enable</span>
<a name="l00274"></a>00274 <span class="comment"> /// \sa setPinsInverted</span>
<a name="l00275"></a>00275 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#56a81c5f00d02ca19646718e88e974c0">setEnablePin</a>(uint8_t enablePin = 0xff);
<a name="l00276"></a>00276 <span class="comment"></span>
<a name="l00277"></a>00277 <span class="comment"> /// Sets the inversion for stepper driver pins</span>
<a name="l00278"></a>00278 <span class="comment"> /// \param[in] direction True for inverted direction pin, false for non-inverted</span>
<a name="l00279"></a>00279 <span class="comment"> /// \param[in] step True for inverted step pin, false for non-inverted</span>
<a name="l00280"></a>00280 <span class="comment"> /// \param[in] enable True for inverted enable pin, false (default) for non-inverted</span>
<a name="l00281"></a>00281 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#797b4bdb580d4ca7a1cfeabe3df0de35">setPinsInverted</a>(<span class="keywordtype">bool</span> direction, <span class="keywordtype">bool</span> <a class="code" href="classAccelStepper.html#3c9a220819d2451f79ff8a0c0a395b9f">step</a>, <span class="keywordtype">bool</span> enable = <span class="keyword">false</span>);
<a name="l00282"></a>00282
<a name="l00283"></a>00283 <span class="keyword">protected</span>:
<a name="l00284"></a>00284 <span class="comment"></span>
<a name="l00285"></a>00285 <span class="comment"> /// Forces the library to compute a new instantaneous speed and set that as</span>
<a name="l00286"></a>00286 <span class="comment"> /// the current speed. Calls</span>
<a name="l00287"></a>00287 <span class="comment"> /// desiredSpeed(), which can be overridden by subclasses. It is called by</span>
<a name="l00288"></a>00288 <span class="comment"> /// the library:</span>
<a name="l00289"></a>00289 <span class="comment"> /// \li after each step</span>
<a name="l00290"></a>00290 <span class="comment"> /// \li after change to maxSpeed through setMaxSpeed()</span>
<a name="l00291"></a>00291 <span class="comment"> /// \li after change to acceleration through setAcceleration()</span>
<a name="l00292"></a>00292 <span class="comment"> /// \li after change to target position (relative or absolute) through</span>
<a name="l00293"></a>00293 <span class="comment"> /// move() or moveTo()</span>
<a name="l00294"></a>00294 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#ffbee789b5c19165846cf0409860ae79">computeNewSpeed</a>();
<a name="l00295"></a>00295 <span class="comment"></span>
<a name="l00296"></a>00296 <span class="comment"> /// Called to execute a step. Only called when a new step is</span>
<a name="l00297"></a>00297 <span class="comment"> /// required. Subclasses may override to implement new stepping</span>
<a name="l00298"></a>00298 <span class="comment"> /// interfaces. The default calls step1(), step2(), step4() or step8() depending on the</span>
<a name="l00299"></a>00299 <span class="comment"> /// number of pins defined for the stepper.</span>
<a name="l00300"></a>00300 <span class="comment"> /// \param[in] step The current step phase number (0 to 7)</span>
<a name="l00301"></a>00301 <span class="comment"></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#3c9a220819d2451f79ff8a0c0a395b9f">step</a>(uint8_t step);
<a name="l00302"></a>00302 <span class="comment"></span>
<a name="l00303"></a>00303 <span class="comment"> /// Called to execute a step using stepper functions (pins = 0) Only called when a new step is</span>
<a name="l00304"></a>00304 <span class="comment"> /// required. Calls _forward() or _backward() to perform the step</span>
<a name="l00305"></a>00305 <span class="comment"></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#889f109756aa4c0a2feefebd8081a337">step0</a>(<span class="keywordtype">void</span>);
<a name="l00306"></a>00306 <span class="comment"></span>
<a name="l00307"></a>00307 <span class="comment"> /// Called to execute a step on a stepper drover (ie where pins == 1). Only called when a new step is</span>
<a name="l00308"></a>00308 <span class="comment"> /// required. Subclasses may override to implement new stepping</span>
<a name="l00309"></a>00309 <span class="comment"> /// interfaces. The default sets or clears the outputs of Step pin1 to step, </span>
<a name="l00310"></a>00310 <span class="comment"> /// and sets the output of _pin2 to the desired direction. The Step pin (_pin1) is pulsed for 1 microsecond</span>
<a name="l00311"></a>00311 <span class="comment"> /// which is the minimum STEP pulse width for the 3967 driver.</span>
<a name="l00312"></a>00312 <span class="comment"> /// \param[in] step The current step phase number (0 to 7)</span>
<a name="l00313"></a>00313 <span class="comment"></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#cc64254ea242b53588e948335fd9305f">step1</a>(uint8_t step);
<a name="l00314"></a>00314 <span class="comment"></span>
<a name="l00315"></a>00315 <span class="comment"> /// Called to execute a step on a 2 pin motor. Only called when a new step is</span>
<a name="l00316"></a>00316 <span class="comment"> /// required. Subclasses may override to implement new stepping</span>
<a name="l00317"></a>00317 <span class="comment"> /// interfaces. The default sets or clears the outputs of pin1 and pin2</span>
<a name="l00318"></a>00318 <span class="comment"> /// \param[in] step The current step phase number (0 to 7)</span>
<a name="l00319"></a>00319 <span class="comment"></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#88f11bf6361fe002585f731d34fe2e8b">step2</a>(uint8_t step);
<a name="l00320"></a>00320 <span class="comment"></span>
<a name="l00321"></a>00321 <span class="comment"> /// Called to execute a step on a 4 pin motor. Only called when a new step is</span>
<a name="l00322"></a>00322 <span class="comment"> /// required. Subclasses may override to implement new stepping</span>
<a name="l00323"></a>00323 <span class="comment"> /// interfaces. The default sets or clears the outputs of pin1, pin2,</span>
<a name="l00324"></a>00324 <span class="comment"> /// pin3, pin4.</span>
<a name="l00325"></a>00325 <span class="comment"> /// \param[in] step The current step phase number (0 to 7)</span>
<a name="l00326"></a>00326 <span class="comment"></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#49e448d179bbe4e0f8003a3f9993789d">step4</a>(uint8_t step);
<a name="l00327"></a>00327 <span class="comment"></span>
<a name="l00328"></a>00328 <span class="comment"> /// Called to execute a step on a 4 pin half-steper motor. Only called when a new step is</span>
<a name="l00329"></a>00329 <span class="comment"> /// required. Subclasses may override to implement new stepping</span>
<a name="l00330"></a>00330 <span class="comment"> /// interfaces. The default sets or clears the outputs of pin1, pin2,</span>
<a name="l00331"></a>00331 <span class="comment"> /// pin3, pin4.</span>
<a name="l00332"></a>00332 <span class="comment"> /// \param[in] step The current step phase number (0 to 7)</span>
<a name="l00333"></a>00333 <span class="comment"></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAccelStepper.html#5b33d1088e2beaf2176c42b08fb675ea">step8</a>(uint8_t step);
<a name="l00334"></a>00334 <span class="comment"></span>
<a name="l00335"></a>00335 <span class="comment"> /// Compute and return the desired speed. The default algorithm uses</span>
<a name="l00336"></a>00336 <span class="comment"> /// maxSpeed, acceleration and the current speed to set a new speed to</span>
<a name="l00337"></a>00337 <span class="comment"> /// move the motor from teh current position to the target</span>
<a name="l00338"></a>00338 <span class="comment"> /// position. Subclasses may override this to provide an alternate</span>
<a name="l00339"></a>00339 <span class="comment"> /// algorithm (but do not block). Called by computeNewSpeed whenever a new speed neds to be</span>
<a name="l00340"></a>00340 <span class="comment"> /// computed. </span>
<a name="l00341"></a>00341 <span class="comment"></span> <span class="keyword">virtual</span> <span class="keywordtype">float</span> <a class="code" href="classAccelStepper.html#6e4bd79c395e69beee31d76d0d3287e4">desiredSpeed</a>();
<a name="l00342"></a>00342
<a name="l00343"></a>00343 <span class="keyword">private</span>:<span class="comment"></span>
<a name="l00344"></a>00344 <span class="comment"> /// Number of pins on the stepper motor. Permits 2 or 4. 2 pins is a</span>
<a name="l00345"></a>00345 <span class="comment"> /// bipolar, and 4 pins is a unipolar.</span>
<a name="l00346"></a>00346 <span class="comment"></span> uint8_t _pins; <span class="comment">// 2 or 4</span>
<a name="l00347"></a>00347 <span class="comment"></span>
<a name="l00348"></a>00348 <span class="comment"> /// Arduino pin number for the 2 or 4 pins required to interface to the</span>
<a name="l00349"></a>00349 <span class="comment"> /// stepper motor.</span>
<a name="l00350"></a>00350 <span class="comment"></span> uint8_t _pin1, _pin2, _pin3, _pin4;
<a name="l00351"></a>00351 <span class="comment"></span>
<a name="l00352"></a>00352 <span class="comment"> /// The current absolution position in steps.</span>
<a name="l00353"></a>00353 <span class="comment"></span> <span class="keywordtype">long</span> _currentPos; <span class="comment">// Steps</span>
<a name="l00354"></a>00354 <span class="comment"></span>
<a name="l00355"></a>00355 <span class="comment"> /// The target position in steps. The AccelStepper library will move the</span>
<a name="l00356"></a>00356 <span class="comment"> /// motor from the _currentPos to the _targetPos, taking into account the</span>
<a name="l00357"></a>00357 <span class="comment"> /// max speed, acceleration and deceleration</span>
<a name="l00358"></a>00358 <span class="comment"></span> <span class="keywordtype">long</span> _targetPos; <span class="comment">// Steps</span>
<a name="l00359"></a>00359 <span class="comment"></span>
<a name="l00360"></a>00360 <span class="comment"> /// The current motos speed in steps per second</span>
<a name="l00361"></a>00361 <span class="comment"> /// Positive is clockwise</span>
<a name="l00362"></a>00362 <span class="comment"></span> <span class="keywordtype">float</span> _speed; <span class="comment">// Steps per second</span>
<a name="l00363"></a>00363 <span class="comment"></span>
<a name="l00364"></a>00364 <span class="comment"> /// The maximum permitted speed in steps per second. Must be &gt; 0.</span>
<a name="l00365"></a>00365 <span class="comment"></span> <span class="keywordtype">float</span> _maxSpeed;
<a name="l00366"></a>00366 <span class="comment"></span>
<a name="l00367"></a>00367 <span class="comment"> /// The acceleration to use to accelerate or decelerate the motor in steps</span>
<a name="l00368"></a>00368 <span class="comment"> /// per second per second. Must be &gt; 0</span>
<a name="l00369"></a>00369 <span class="comment"></span> <span class="keywordtype">float</span> _acceleration;
<a name="l00370"></a>00370 <span class="comment"></span>
<a name="l00371"></a>00371 <span class="comment"> /// The current interval between steps in microseconds</span>
<a name="l00372"></a>00372 <span class="comment"></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> _stepInterval;
<a name="l00373"></a>00373 <span class="comment"></span>
<a name="l00374"></a>00374 <span class="comment"> /// The last step time in microseconds</span>
<a name="l00375"></a>00375 <span class="comment"></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> _lastStepTime;
<a name="l00376"></a>00376 <span class="comment"></span>
<a name="l00377"></a>00377 <span class="comment"> /// The minimum allowed pulse width in microseconds</span>
<a name="l00378"></a>00378 <span class="comment"></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _minPulseWidth;
<a name="l00379"></a>00379 <span class="comment"></span>
<a name="l00380"></a>00380 <span class="comment"> /// Is the direction pin inverted?</span>
<a name="l00381"></a>00381 <span class="comment"></span> <span class="keywordtype">bool</span> _dirInverted;
<a name="l00382"></a>00382 <span class="comment"></span>
<a name="l00383"></a>00383 <span class="comment"> /// Is the step pin inverted?</span>
<a name="l00384"></a>00384 <span class="comment"></span> <span class="keywordtype">bool</span> _stepInverted;
<a name="l00385"></a>00385 <span class="comment"></span>
<a name="l00386"></a>00386 <span class="comment"> /// Is the enable pin inverted?</span>
<a name="l00387"></a>00387 <span class="comment"></span> <span class="keywordtype">bool</span> _enableInverted;
<a name="l00388"></a>00388 <span class="comment"></span>
<a name="l00389"></a>00389 <span class="comment"> /// Enable pin for stepper driver, or 0xFF if unused.</span>
<a name="l00390"></a>00390 <span class="comment"></span> uint8_t _enablePin;
<a name="l00391"></a>00391
<a name="l00392"></a>00392 <span class="comment">// The pointer to a forward-step procedure</span>
<a name="l00393"></a>00393 void (*_forward)();
<a name="l00394"></a>00394
<a name="l00395"></a>00395 <span class="comment">// The pointer to a backward-step procedure</span>
<a name="l00396"></a>00396 void (*_backward)();
<a name="l00397"></a>00397 };
<a name="l00398"></a>00398
<a name="l00399"></a>00399 <span class="preprocessor">#endif </span>
</pre></div></div>
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<tr id="row_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classAccelStepper.html" target="_self">AccelStepper</a></td><td class="desc">Support for stepper motors with acceleration etc </td></tr>
<tr id="row_1_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classMultiStepper.html" target="_self">MultiStepper</a></td><td class="desc">Operate multiple AccelSteppers in a co-ordinated fashion </td></tr>
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<div class="title">AccelStepper Member List</div> </div>
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<div class="contents">
<p>This is the complete list of members for <a class="el" href="classAccelStepper.html">AccelStepper</a>, including all inherited members.</p>
<table class="directory">
<tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a3bc75bd6571b98a6177838ca81ac39ab">AccelStepper</a>(uint8_t interface=AccelStepper::FULL4WIRE, uint8_t pin1=2, uint8_t pin2=3, uint8_t pin3=4, uint8_t pin4=5, bool enable=true)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classAccelStepper.html#afa3061ce813303a8f2fa206ee8d012bd">AccelStepper</a>(void(*forward)(), void(*backward)())</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#affbee789b5c19165846cf0409860ae79">computeNewSpeed</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
<tr><td class="entry"><a class="el" href="classAccelStepper.html#a5dce13ab2a1b02b8f443318886bf6fc5">currentPosition</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228">Direction</a> enum name</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
<tr><td class="entry"><a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228a6959a4549f734bd771d418f995ba4fb4">DIRECTION_CCW</a> enum value</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228ad604e0047f7cb47662c5a1cf6999337c">DIRECTION_CW</a> enum value</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
<tr><td class="entry"><a class="el" href="classAccelStepper.html#a3591e29a236e2935afd7f64ff6c22006">disableOutputs</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a748665c3962e66fbc0e9373eb14c69c1">distanceToGo</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5ac3523e4cf6763ba518d16fec3708ef23">DRIVER</a> enum value</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#aa279a50d30d0413f570c692cff071643">enableOutputs</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a62a305b52f749ff8c89138273fbb012d">FULL2WIRE</a> enum value</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a0b8eea5cf0f8ce70b1959d2977ccc996">FULL3WIRE</a> enum value</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5adedd394a375190a3df8d4519c0d4dc2f">FULL4WIRE</a> enum value</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5af5bb99ad9d67ad2d85f840e3abcfe068">FUNCTION</a> enum value</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a00c2387a5af43d8e97639699ab7a5c7f">HALF3WIRE</a> enum value</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5aecc0900c55b777d2e885581b8c434b07">HALF4WIRE</a> enum value</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classAccelStepper.html#a3a60cc0b962f8ceb81ee1e6f36443ceb">isRunning</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a6123a1dfb4495d8bd2646288eae60d7f">maxSpeed</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5">MotorInterfaceType</a> enum name</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a68942c66e78fb7f7b5f0cdade6eb7f06">move</a>(long relative)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classAccelStepper.html#ace236ede35f87c63d18da25810ec9736">moveTo</a>(long absolute)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">run</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">runSpeed</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a9270d20336e76ac1fd5bcd5b9c34f301">runSpeedToPosition</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classAccelStepper.html#a176c5d2e4c2f21e9e92b12e39a6f0e67">runToNewPosition</a>(long position)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a344f58fef8cc34ac5aa75ba4b665d21c">runToPosition</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classAccelStepper.html#adfb19e3cd2a028a1fe78131787604fd1">setAcceleration</a>(float acceleration)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a9d917f014317fb9d3b5dc14e66f6c689">setCurrentPosition</a>(long position)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classAccelStepper.html#a56a81c5f00d02ca19646718e88e974c0">setEnablePin</a>(uint8_t enablePin=0xff)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#abee8d466229b87accba33d6ec929c18f">setMaxSpeed</a>(float speed)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classAccelStepper.html#af4d3818e691dad5dc518308796ccf154">setMinPulseWidth</a>(unsigned int minWidth)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">setOutputPins</a>(uint8_t mask)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="classAccelStepper.html#ac62cae590c2f9c303519a3a1c4adc8ab">setPinsInverted</a>(bool directionInvert=false, bool stepInvert=false, bool enableInvert=false)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a38298ac2dd852fb22259f6c4bbe08c94">setPinsInverted</a>(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classAccelStepper.html#ae79c49ad69d5ccc9da0ee691fa4ca235">setSpeed</a>(float speed)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a4f0989d0ae264e7eadfe1fa720769fb6">speed</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr><td class="entry"><a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">step</a>(long step)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#aa2913db789e6fa05756579ff82fe6e7e">step0</a>(long step)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="classAccelStepper.html#a63ef416bc039da539294e84a41e7d7dc">step1</a>(long step)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a674e48a6bf99e7ad1f013c1e4414565a">step2</a>(long step)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="classAccelStepper.html#ad73c61aade2e10243dfb02aefa7ab8fd">step3</a>(long step)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a8910bd9218a54dfb7e2372a6d0bcca0c">step4</a>(long step)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="classAccelStepper.html#a4b0faf1ebc0c584ab606c0c0f66986b0">step6</a>(long step)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#aa909c6c3fcd3ea4b3ee1aa8b4d0f7e87">step8</a>(long step)</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
<tr><td class="entry"><a class="el" href="classAccelStepper.html#a638817b85aed9d5cd15c76a76c00aced">stop</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classAccelStepper.html#a96685e0945b7cf75d5959da679cd911e">targetPosition</a>()</td><td class="entry"><a class="el" href="classAccelStepper.html">AccelStepper</a></td><td class="entry"></td></tr>
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<hr class="footer"/><address class="footer"><small>
Generated by &#160;<a href="http://www.doxygen.org/index.html">
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<table class="directory">
<tr id="row_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><a href="AccelStepper_8h_source.html"><span class="icondoc"></span></a><b>AccelStepper.h</b></td><td class="desc"></td></tr>
<tr id="row_1_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><a href="MultiStepper_8h_source.html"><span class="icondoc"></span></a><b>MultiStepper.h</b></td><td class="desc"></td></tr>
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Generated by &#160;<a href="http://www.doxygen.org/index.html">
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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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<title>AccelStepper: Class Members</title>
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<!-- Generated by Doxygen 1.8.8 -->
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<li><a href="annotated.html"><span>Class&#160;List</span></a></li>
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<li><a href="functions_enum.html"><span>Enumerations</span></a></li>
<li><a href="functions_eval.html"><span>Enumerator</span></a></li>
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<div id="navrow4" class="tabs3">
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<li><a href="#index_a"><span>a</span></a></li>
<li><a href="#index_c"><span>c</span></a></li>
<li><a href="#index_d"><span>d</span></a></li>
<li><a href="#index_e"><span>e</span></a></li>
<li><a href="#index_f"><span>f</span></a></li>
<li><a href="#index_h"><span>h</span></a></li>
<li><a href="#index_i"><span>i</span></a></li>
<li><a href="#index_m"><span>m</span></a></li>
<li><a href="#index_r"><span>r</span></a></li>
<li><a href="#index_s"><span>s</span></a></li>
<li class="current"><a href="#index_t"><span>t</span></a></li>
</ul>
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</div><!-- top -->
<div class="contents">
<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
<h3><a class="anchor" id="index_a"></a>- a -</h3><ul>
<li>AccelStepper()
: <a class="el" href="classAccelStepper.html#a3bc75bd6571b98a6177838ca81ac39ab">AccelStepper</a>
</li>
<li>addStepper()
: <a class="el" href="classMultiStepper.html#a383d8486e17ad9de9f1bafcbd9aa52ee">MultiStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_c"></a>- c -</h3><ul>
<li>computeNewSpeed()
: <a class="el" href="classAccelStepper.html#affbee789b5c19165846cf0409860ae79">AccelStepper</a>
</li>
<li>currentPosition()
: <a class="el" href="classAccelStepper.html#a5dce13ab2a1b02b8f443318886bf6fc5">AccelStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_d"></a>- d -</h3><ul>
<li>Direction
: <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228">AccelStepper</a>
</li>
<li>DIRECTION_CCW
: <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228a6959a4549f734bd771d418f995ba4fb4">AccelStepper</a>
</li>
<li>DIRECTION_CW
: <a class="el" href="classAccelStepper.html#a7468f91a925c689c3ba250f8d074d228ad604e0047f7cb47662c5a1cf6999337c">AccelStepper</a>
</li>
<li>disableOutputs()
: <a class="el" href="classAccelStepper.html#a3591e29a236e2935afd7f64ff6c22006">AccelStepper</a>
</li>
<li>distanceToGo()
: <a class="el" href="classAccelStepper.html#a748665c3962e66fbc0e9373eb14c69c1">AccelStepper</a>
</li>
<li>DRIVER
: <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5ac3523e4cf6763ba518d16fec3708ef23">AccelStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_e"></a>- e -</h3><ul>
<li>enableOutputs()
: <a class="el" href="classAccelStepper.html#aa279a50d30d0413f570c692cff071643">AccelStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_f"></a>- f -</h3><ul>
<li>FULL2WIRE
: <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a62a305b52f749ff8c89138273fbb012d">AccelStepper</a>
</li>
<li>FULL3WIRE
: <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a0b8eea5cf0f8ce70b1959d2977ccc996">AccelStepper</a>
</li>
<li>FULL4WIRE
: <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5adedd394a375190a3df8d4519c0d4dc2f">AccelStepper</a>
</li>
<li>FUNCTION
: <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5af5bb99ad9d67ad2d85f840e3abcfe068">AccelStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_h"></a>- h -</h3><ul>
<li>HALF3WIRE
: <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5a00c2387a5af43d8e97639699ab7a5c7f">AccelStepper</a>
</li>
<li>HALF4WIRE
: <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5aecc0900c55b777d2e885581b8c434b07">AccelStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_i"></a>- i -</h3><ul>
<li>isRunning()
: <a class="el" href="classAccelStepper.html#a3a60cc0b962f8ceb81ee1e6f36443ceb">AccelStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_m"></a>- m -</h3><ul>
<li>maxSpeed()
: <a class="el" href="classAccelStepper.html#a6123a1dfb4495d8bd2646288eae60d7f">AccelStepper</a>
</li>
<li>MotorInterfaceType
: <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5">AccelStepper</a>
</li>
<li>move()
: <a class="el" href="classAccelStepper.html#a68942c66e78fb7f7b5f0cdade6eb7f06">AccelStepper</a>
</li>
<li>moveTo()
: <a class="el" href="classAccelStepper.html#ace236ede35f87c63d18da25810ec9736">AccelStepper</a>
, <a class="el" href="classMultiStepper.html#a291fec32a79390b6eb00296cffac49ee">MultiStepper</a>
</li>
<li>MultiStepper()
: <a class="el" href="classMultiStepper.html#a14c0c1c0f55e5bbdc4971730e32304c2">MultiStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_r"></a>- r -</h3><ul>
<li>run()
: <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">AccelStepper</a>
, <a class="el" href="classMultiStepper.html#a26c2f53b1e7ddf5d5dfb333f6fb7fb92">MultiStepper</a>
</li>
<li>runSpeed()
: <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">AccelStepper</a>
</li>
<li>runSpeedToPosition()
: <a class="el" href="classAccelStepper.html#a9270d20336e76ac1fd5bcd5b9c34f301">AccelStepper</a>
, <a class="el" href="classMultiStepper.html#a2592f55864ce3ace125944db624317bc">MultiStepper</a>
</li>
<li>runToNewPosition()
: <a class="el" href="classAccelStepper.html#a176c5d2e4c2f21e9e92b12e39a6f0e67">AccelStepper</a>
</li>
<li>runToPosition()
: <a class="el" href="classAccelStepper.html#a344f58fef8cc34ac5aa75ba4b665d21c">AccelStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_s"></a>- s -</h3><ul>
<li>setAcceleration()
: <a class="el" href="classAccelStepper.html#adfb19e3cd2a028a1fe78131787604fd1">AccelStepper</a>
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<li>setCurrentPosition()
: <a class="el" href="classAccelStepper.html#a9d917f014317fb9d3b5dc14e66f6c689">AccelStepper</a>
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<li>setEnablePin()
: <a class="el" href="classAccelStepper.html#a56a81c5f00d02ca19646718e88e974c0">AccelStepper</a>
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<li>setMaxSpeed()
: <a class="el" href="classAccelStepper.html#abee8d466229b87accba33d6ec929c18f">AccelStepper</a>
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<li>setMinPulseWidth()
: <a class="el" href="classAccelStepper.html#af4d3818e691dad5dc518308796ccf154">AccelStepper</a>
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<li>setOutputPins()
: <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">AccelStepper</a>
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<li>setPinsInverted()
: <a class="el" href="classAccelStepper.html#a38298ac2dd852fb22259f6c4bbe08c94">AccelStepper</a>
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<li>setSpeed()
: <a class="el" href="classAccelStepper.html#ae79c49ad69d5ccc9da0ee691fa4ca235">AccelStepper</a>
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<li>speed()
: <a class="el" href="classAccelStepper.html#a4f0989d0ae264e7eadfe1fa720769fb6">AccelStepper</a>
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<li>step()
: <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">AccelStepper</a>
</li>
<li>step0()
: <a class="el" href="classAccelStepper.html#aa2913db789e6fa05756579ff82fe6e7e">AccelStepper</a>
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<li>step1()
: <a class="el" href="classAccelStepper.html#a63ef416bc039da539294e84a41e7d7dc">AccelStepper</a>
</li>
<li>step2()
: <a class="el" href="classAccelStepper.html#a674e48a6bf99e7ad1f013c1e4414565a">AccelStepper</a>
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<li>step3()
: <a class="el" href="classAccelStepper.html#ad73c61aade2e10243dfb02aefa7ab8fd">AccelStepper</a>
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<li>step4()
: <a class="el" href="classAccelStepper.html#a8910bd9218a54dfb7e2372a6d0bcca0c">AccelStepper</a>
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<li>step6()
: <a class="el" href="classAccelStepper.html#a4b0faf1ebc0c584ab606c0c0f66986b0">AccelStepper</a>
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<li>step8()
: <a class="el" href="classAccelStepper.html#aa909c6c3fcd3ea4b3ee1aa8b4d0f7e87">AccelStepper</a>
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<li>stop()
: <a class="el" href="classAccelStepper.html#a638817b85aed9d5cd15c76a76c00aced">AccelStepper</a>
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<h3><a class="anchor" id="index_t"></a>- t -</h3><ul>
<li>targetPosition()
: <a class="el" href="classAccelStepper.html#a96685e0945b7cf75d5959da679cd911e">AccelStepper</a>
</li>
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221
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<li class="current"><a href="annotated.html"><span>Classes</span></a></li>
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<li><a href="functions.html"><span>All</span></a></li>
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<li><a href="functions_eval.html"><span>Enumerator</span></a></li>
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&#160;
<h3><a class="anchor" id="index_a"></a>- a -</h3><ul>
<li>AccelStepper()
: <a class="el" href="classAccelStepper.html#a3bc75bd6571b98a6177838ca81ac39ab">AccelStepper</a>
</li>
<li>addStepper()
: <a class="el" href="classMultiStepper.html#a383d8486e17ad9de9f1bafcbd9aa52ee">MultiStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_c"></a>- c -</h3><ul>
<li>computeNewSpeed()
: <a class="el" href="classAccelStepper.html#affbee789b5c19165846cf0409860ae79">AccelStepper</a>
</li>
<li>currentPosition()
: <a class="el" href="classAccelStepper.html#a5dce13ab2a1b02b8f443318886bf6fc5">AccelStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_d"></a>- d -</h3><ul>
<li>disableOutputs()
: <a class="el" href="classAccelStepper.html#a3591e29a236e2935afd7f64ff6c22006">AccelStepper</a>
</li>
<li>distanceToGo()
: <a class="el" href="classAccelStepper.html#a748665c3962e66fbc0e9373eb14c69c1">AccelStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_e"></a>- e -</h3><ul>
<li>enableOutputs()
: <a class="el" href="classAccelStepper.html#aa279a50d30d0413f570c692cff071643">AccelStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_i"></a>- i -</h3><ul>
<li>isRunning()
: <a class="el" href="classAccelStepper.html#a3a60cc0b962f8ceb81ee1e6f36443ceb">AccelStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_m"></a>- m -</h3><ul>
<li>maxSpeed()
: <a class="el" href="classAccelStepper.html#a6123a1dfb4495d8bd2646288eae60d7f">AccelStepper</a>
</li>
<li>move()
: <a class="el" href="classAccelStepper.html#a68942c66e78fb7f7b5f0cdade6eb7f06">AccelStepper</a>
</li>
<li>moveTo()
: <a class="el" href="classAccelStepper.html#ace236ede35f87c63d18da25810ec9736">AccelStepper</a>
, <a class="el" href="classMultiStepper.html#a291fec32a79390b6eb00296cffac49ee">MultiStepper</a>
</li>
<li>MultiStepper()
: <a class="el" href="classMultiStepper.html#a14c0c1c0f55e5bbdc4971730e32304c2">MultiStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_r"></a>- r -</h3><ul>
<li>run()
: <a class="el" href="classAccelStepper.html#a608b2395b64ac15451d16d0371fe13ce">AccelStepper</a>
, <a class="el" href="classMultiStepper.html#a26c2f53b1e7ddf5d5dfb333f6fb7fb92">MultiStepper</a>
</li>
<li>runSpeed()
: <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">AccelStepper</a>
</li>
<li>runSpeedToPosition()
: <a class="el" href="classAccelStepper.html#a9270d20336e76ac1fd5bcd5b9c34f301">AccelStepper</a>
, <a class="el" href="classMultiStepper.html#a2592f55864ce3ace125944db624317bc">MultiStepper</a>
</li>
<li>runToNewPosition()
: <a class="el" href="classAccelStepper.html#a176c5d2e4c2f21e9e92b12e39a6f0e67">AccelStepper</a>
</li>
<li>runToPosition()
: <a class="el" href="classAccelStepper.html#a344f58fef8cc34ac5aa75ba4b665d21c">AccelStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_s"></a>- s -</h3><ul>
<li>setAcceleration()
: <a class="el" href="classAccelStepper.html#adfb19e3cd2a028a1fe78131787604fd1">AccelStepper</a>
</li>
<li>setCurrentPosition()
: <a class="el" href="classAccelStepper.html#a9d917f014317fb9d3b5dc14e66f6c689">AccelStepper</a>
</li>
<li>setEnablePin()
: <a class="el" href="classAccelStepper.html#a56a81c5f00d02ca19646718e88e974c0">AccelStepper</a>
</li>
<li>setMaxSpeed()
: <a class="el" href="classAccelStepper.html#abee8d466229b87accba33d6ec929c18f">AccelStepper</a>
</li>
<li>setMinPulseWidth()
: <a class="el" href="classAccelStepper.html#af4d3818e691dad5dc518308796ccf154">AccelStepper</a>
</li>
<li>setOutputPins()
: <a class="el" href="classAccelStepper.html#af3c2516b6ce7c1ecbc2004107bb2a9ce">AccelStepper</a>
</li>
<li>setPinsInverted()
: <a class="el" href="classAccelStepper.html#a38298ac2dd852fb22259f6c4bbe08c94">AccelStepper</a>
</li>
<li>setSpeed()
: <a class="el" href="classAccelStepper.html#ae79c49ad69d5ccc9da0ee691fa4ca235">AccelStepper</a>
</li>
<li>speed()
: <a class="el" href="classAccelStepper.html#a4f0989d0ae264e7eadfe1fa720769fb6">AccelStepper</a>
</li>
<li>step()
: <a class="el" href="classAccelStepper.html#a8a419121702399d8ac66df4cc47481f4">AccelStepper</a>
</li>
<li>step0()
: <a class="el" href="classAccelStepper.html#aa2913db789e6fa05756579ff82fe6e7e">AccelStepper</a>
</li>
<li>step1()
: <a class="el" href="classAccelStepper.html#a63ef416bc039da539294e84a41e7d7dc">AccelStepper</a>
</li>
<li>step2()
: <a class="el" href="classAccelStepper.html#a674e48a6bf99e7ad1f013c1e4414565a">AccelStepper</a>
</li>
<li>step3()
: <a class="el" href="classAccelStepper.html#ad73c61aade2e10243dfb02aefa7ab8fd">AccelStepper</a>
</li>
<li>step4()
: <a class="el" href="classAccelStepper.html#a8910bd9218a54dfb7e2372a6d0bcca0c">AccelStepper</a>
</li>
<li>step6()
: <a class="el" href="classAccelStepper.html#a4b0faf1ebc0c584ab606c0c0f66986b0">AccelStepper</a>
</li>
<li>step8()
: <a class="el" href="classAccelStepper.html#aa909c6c3fcd3ea4b3ee1aa8b4d0f7e87">AccelStepper</a>
</li>
<li>stop()
: <a class="el" href="classAccelStepper.html#a638817b85aed9d5cd15c76a76c00aced">AccelStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_t"></a>- t -</h3><ul>
<li>targetPosition()
: <a class="el" href="classAccelStepper.html#a96685e0945b7cf75d5959da679cd911e">AccelStepper</a>
</li>
</ul>
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<div class="title"><a class="el" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc. ">AccelStepper</a> library for Arduino </div> </div>
</div><!--header-->
<div class="contents">
<div class="textblock"><p>This is the Arduino <a class="el" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc. ">AccelStepper</a> library. It provides an object-oriented interface for 2, 3 or 4 pin stepper motors and motor drivers.</p>
<p>The standard Arduino IDE includes the Stepper library (<a href="http://arduino.cc/en/Reference/Stepper">http://arduino.cc/en/Reference/Stepper</a>) for stepper motors. It is perfectly adequate for simple, single motor applications.</p>
<p><a class="el" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc. ">AccelStepper</a> significantly improves on the standard Arduino Stepper library in several ways: </p><ul>
<li>Supports acceleration and deceleration </li>
<li>Supports multiple simultaneous steppers, with independent concurrent stepping on each stepper </li>
<li>API functions never delay() or block </li>
<li>Supports 2, 3 and 4 wire steppers, plus 3 and 4 wire half steppers. </li>
<li>Supports alternate stepping functions to enable support of AFMotor (<a href="https://github.com/adafruit/Adafruit-Motor-Shield-library">https://github.com/adafruit/Adafruit-Motor-Shield-library</a>) </li>
<li>Supports stepper drivers such as the Sparkfun EasyDriver (based on 3967 driver chip) </li>
<li>Very slow speeds are supported </li>
<li>Extensive API </li>
<li>Subclass support</li>
</ul>
<p>The latest version of this documentation can be downloaded from <a href="http://www.airspayce.com/mikem/arduino/AccelStepper">http://www.airspayce.com/mikem/arduino/AccelStepper</a> The version of the package that this documentation refers to can be downloaded from <a href="http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.56.zip">http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.56.zip</a></p>
<p>Example Arduino programs are included to show the main modes of use.</p>
<p>You can also find online help and discussion at <a href="http://groups.google.com/group/accelstepper">http://groups.google.com/group/accelstepper</a> Please use that group for all questions and discussions on this topic. Do not contact the author directly, unless it is to discuss commercial licensing. Before asking a question or reporting a bug, please read</p><ul>
<li><a href="http://en.wikipedia.org/wiki/Wikipedia:Reference_desk/How_to_ask_a_software_question">http://en.wikipedia.org/wiki/Wikipedia:Reference_desk/How_to_ask_a_software_question</a></li>
<li><a href="http://www.catb.org/esr/faqs/smart-questions.html">http://www.catb.org/esr/faqs/smart-questions.html</a></li>
<li><a href="http://www.chiark.greenend.org.uk/~shgtatham/bugs.html">http://www.chiark.greenend.org.uk/~shgtatham/bugs.html</a></li>
</ul>
<p>Tested on Arduino Diecimila and Mega with arduino-0018 &amp; arduino-0021 on OpenSuSE 11.1 and avr-libc-1.6.1-1.15, cross-avr-binutils-2.19-9.1, cross-avr-gcc-4.1.3_20080612-26.5. Tested on Teensy <a href="http://www.pjrc.com/teensy">http://www.pjrc.com/teensy</a> including Teensy 3.1 built using Arduino IDE 1.0.5 with teensyduino addon 1.18 and later.</p>
<dl class="section user"><dt>Installation</dt><dd></dd></dl>
<p>Install in the usual way: unzip the distribution zip file to the libraries sub-folder of your sketchbook.</p>
<dl class="section user"><dt>Theory</dt><dd></dd></dl>
<p>This code uses speed calculations as described in "Generate stepper-motor speed profiles in real time" by David Austin <a href="http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf">http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf</a> or <a href="http://www.embedded.com/design/mcus-processors-and-socs/4006438/Generate-stepper-motor-speed-profiles-in-real-time">http://www.embedded.com/design/mcus-processors-and-socs/4006438/Generate-stepper-motor-speed-profiles-in-real-time</a> or <a href="http://web.archive.org/web/20140705143928/http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf">http://web.archive.org/web/20140705143928/http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf</a> with the exception that <a class="el" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc. ">AccelStepper</a> uses steps per second rather than radians per second (because we dont know the step angle of the motor) An initial step interval is calculated for the first step, based on the desired acceleration On subsequent steps, shorter step intervals are calculated based on the previous step until max speed is achieved.</p>
<dl class="section user"><dt>Adafruit Motor Shield V2</dt><dd></dd></dl>
<p>The included examples AFMotor_* are for Adafruit Motor Shield V1 and do not work with Adafruit Motor Shield V2. See <a href="https://github.com/adafruit/Adafruit_Motor_Shield_V2_Library">https://github.com/adafruit/Adafruit_Motor_Shield_V2_Library</a> for examples that work with Adafruit Motor Shield V2.</p>
<dl class="section user"><dt>Donations</dt><dd></dd></dl>
<p>This library is offered under a free GPL license for those who want to use it that way. We try hard to keep it up to date, fix bugs and to provide free support. If this library has helped you save time or money, please consider donating at <a href="http://www.airspayce.com">http://www.airspayce.com</a> or here:</p>
<p> <form action="https://www.paypal.com/cgi-bin/webscr" method="post"><input type="hidden" name="cmd" value="_donations" /> <input type="hidden" name="business" value="mikem@airspayce.com" /> <input type="hidden" name="lc" value="AU" /> <input type="hidden" name="item_name" value="Airspayce" /> <input type="hidden" name="item_number" value="AccelStepper" /> <input type="hidden" name="currency_code" value="USD" /> <input type="hidden" name="bn" value="PP-DonationsBF:btn_donateCC_LG.gif:NonHosted" /> <input type="image" alt="PayPal — The safer, easier way to pay online." name="submit" src="https://www.paypalobjects.com/en_AU/i/btn/btn_donateCC_LG.gif" /> <img alt="" src="https://www.paypalobjects.com/en_AU/i/scr/pixel.gif" width="1" height="1" border="0" /></form> </p>
<dl class="section user"><dt>Trademarks</dt><dd></dd></dl>
<p><a class="el" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc. ">AccelStepper</a> is a trademark of AirSpayce Pty Ltd. The <a class="el" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc. ">AccelStepper</a> mark was first used on April 26 2010 for international trade, and is used only in relation to motor control hardware and software. It is not to be confused with any other similar marks covering other goods and services.</p>
<dl class="section user"><dt>Copyright</dt><dd></dd></dl>
<p>This software is Copyright (C) 2010 Mike McCauley. Use is subject to license conditions. The main licensing options available are GPL V2 or Commercial:</p>
<dl class="section user"><dt>Open Source Licensing GPL V2</dt><dd>This is the appropriate option if you want to share the source code of your application with everyone you distribute it to, and you also want to give them the right to share who uses it. If you wish to use this software under Open Source Licensing, you must contribute all your source code to the open source community in accordance with the GPL Version 2 when your application is distributed. See <a href="https://www.gnu.org/licenses/gpl-2.0.html">https://www.gnu.org/licenses/gpl-2.0.html</a></dd></dl>
<dl class="section user"><dt>Commercial Licensing</dt><dd>This is the appropriate option if you are creating proprietary applications and you are not prepared to distribute and share the source code of your application. Purchase commercial licenses at <a href="http://airspayce.binpress.com/product/accelstepper/3846">http://airspayce.binpress.com/product/accelstepper/3846</a></dd></dl>
<dl class="section user"><dt>Revision History</dt><dd></dd></dl>
<dl class="section version"><dt>Version</dt><dd>1.0 Initial release</dd>
<dd>
1.1 Added speed() function to get the current speed. </dd>
<dd>
1.2 Added runSpeedToPosition() submitted by Gunnar Arndt. </dd>
<dd>
1.3 Added support for stepper drivers (ie with Step and Direction inputs) with _pins == 1 </dd>
<dd>
1.4 Added functional contructor to support AFMotor, contributed by Limor, with example sketches. </dd>
<dd>
1.5 Improvements contributed by Peter Mousley: Use of microsecond steps and other speed improvements to increase max stepping speed to about 4kHz. New option for user to set the min allowed pulse width. Added checks for already running at max speed and skip further calcs if so. </dd>
<dd>
1.6 Fixed a problem with wrapping of microsecond stepping that could cause stepping to hang. Reported by Sandy Noble. Removed redundant _lastRunTime member. </dd>
<dd>
1.7 Fixed a bug where setCurrentPosition() did not always work as expected. Reported by Peter Linhart. </dd>
<dd>
1.8 Added support for 4 pin half-steppers, requested by Harvey Moon </dd>
<dd>
1.9 setCurrentPosition() now also sets motor speed to 0. </dd>
<dd>
1.10 Builds on Arduino 1.0 </dd>
<dd>
1.11 Improvments from Michael Ellison: Added optional enable line support for stepper drivers Added inversion for step/direction/enable lines for stepper drivers </dd>
<dd>
1.12 Announce Google Group </dd>
<dd>
1.13 Improvements to speed calculation. Cost of calculation is now less in the worst case, and more or less constant in all cases. This should result in slightly beter high speed performance, and reduce anomalous speed glitches when other steppers are accelerating. However, its hard to see how to replace the sqrt() required at the very first step from 0 speed. </dd>
<dd>
1.14 Fixed a problem with compiling under arduino 0021 reported by EmbeddedMan </dd>
<dd>
1.15 Fixed a problem with runSpeedToPosition which did not correctly handle running backwards to a smaller target position. Added examples </dd>
<dd>
1.16 Fixed some cases in the code where abs() was used instead of fabs(). </dd>
<dd>
1.17 Added example ProportionalControl </dd>
<dd>
1.18 Fixed a problem: If one calls the funcion runSpeed() when Speed is zero, it makes steps without counting. reported by Friedrich, Klappenbach. </dd>
<dd>
1.19 Added MotorInterfaceType and symbolic names for the number of pins to use for the motor interface. Updated examples to suit. Replaced individual pin assignment variables _pin1, _pin2 etc with array _pin[4]. _pins member changed to _interface. Added _pinInverted array to simplify pin inversion operations. Added new function setOutputPins() which sets the motor output pins. It can be overridden in order to provide, say, serial output instead of parallel output Some refactoring and code size reduction. </dd>
<dd>
1.20 Improved documentation and examples to show need for correctly specifying <a class="el" href="classAccelStepper.html#a73bdecf1273d98d8c5fbcb764cabeea5adedd394a375190a3df8d4519c0d4dc2f" title="4 wire full stepper, 4 motor pins required ">AccelStepper::FULL4WIRE</a> and friends. </dd>
<dd>
1.21 Fixed a problem where desiredSpeed could compute the wrong step acceleration when _speed was small but non-zero. Reported by Brian Schmalz. Precompute sqrt_twoa to improve performance and max possible stepping speed </dd>
<dd>
1.22 Added Bounce.pde example Fixed a problem where calling moveTo(), setMaxSpeed(), setAcceleration() more frequently than the step time, even with the same values, would interfere with speed calcs. Now a new speed is computed only if there was a change in the set value. Reported by Brian Schmalz. </dd>
<dd>
1.23 Rewrite of the speed algorithms in line with <a href="http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf">http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf</a> Now expect smoother and more linear accelerations and decelerations. The desiredSpeed() function was removed. </dd>
<dd>
1.24 Fixed a problem introduced in 1.23: with runToPosition, which did never returned </dd>
<dd>
1.25 Now ignore attempts to set acceleration to 0.0 </dd>
<dd>
1.26 Fixed a problem where certina combinations of speed and accelration could cause oscillation about the target position. </dd>
<dd>
1.27 Added stop() function to stop as fast as possible with current acceleration parameters. Also added new Quickstop example showing its use. </dd>
<dd>
1.28 Fixed another problem where certain combinations of speed and accelration could cause oscillation about the target position. Added support for 3 wire full and half steppers such as Hard Disk Drive spindle. Contributed by Yuri Ivatchkovitch. </dd>
<dd>
1.29 Fixed a problem that could cause a DRIVER stepper to continually step with some sketches. Reported by Vadim. </dd>
<dd>
1.30 Fixed a problem that could cause stepper to back up a few steps at the end of accelerated travel with certain speeds. Reported and patched by jolo. </dd>
<dd>
1.31 Updated author and distribution location details to airspayce.com </dd>
<dd>
1.32 Fixed a problem with enableOutputs() and setEnablePin on Arduino Due that prevented the enable pin changing stae correctly. Reported by Duane Bishop. </dd>
<dd>
1.33 Fixed an error in example AFMotor_ConstantSpeed.pde did not setMaxSpeed(); Fixed a problem that caused incorrect pin sequencing of FULL3WIRE and HALF3WIRE. Unfortunately this meant changing the signature for all step*() functions. Added example MotorShield, showing how to use AdaFruit Motor Shield to control a 3 phase motor such as a HDD spindle motor (and without using the AFMotor library. </dd>
<dd>
1.34 Added setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert) to allow inversion of 2, 3 and 4 wire stepper pins. Requested by Oleg. </dd>
<dd>
1.35 Removed default args from setPinsInverted(bool, bool, bool, bool, bool) to prevent ambiguity with setPinsInverted(bool, bool, bool). Reported by Mac Mac. </dd>
<dd>
1.36 Changed enableOutputs() and disableOutputs() to be virtual so can be overridden. Added new optional argument 'enable' to constructor, which allows you toi disable the automatic enabling of outputs at construction time. Suggested by Guido. </dd>
<dd>
1.37 Fixed a problem with step1 that could cause a rogue step in the wrong direction (or not, depending on the setup-time requirements of the connected hardware). Reported by Mark Tillotson. </dd>
<dd>
1.38 run() function incorrectly always returned true. Updated function and doc so it returns true if the motor is still running to the target position. </dd>
<dd>
1.39 Updated typos in keywords.txt, courtesey Jon Magill. </dd>
<dd>
1.40 Updated documentation, including testing on Teensy 3.1 </dd>
<dd>
1.41 Fixed an error in the acceleration calculations, resulting in acceleration of haldf the intended value </dd>
<dd>
1.42 Improved support for FULL3WIRE and HALF3WIRE output pins. These changes were in Yuri's original contribution but did not make it into production.<br />
</dd>
<dd>
1.43 Added DualMotorShield example. Shows how to use <a class="el" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc. ">AccelStepper</a> to control 2 x 2 phase steppers using the Itead Studio Arduino Dual Stepper Motor Driver Shield model IM120417015.<br />
</dd>
<dd>
1.44 examples/DualMotorShield/DualMotorShield.ino examples/DualMotorShield/DualMotorShield.pde was missing from the distribution.<br />
</dd>
<dd>
1.45 Fixed a problem where if setAcceleration was not called, there was no default acceleration. Reported by Michael Newman.<br />
</dd>
<dd>
1.45 Fixed inaccuracy in acceleration rate by using Equation 15, suggested by Sebastian Gracki.<br />
Performance improvements in runSpeed suggested by Jaakko Fagerlund.<br />
</dd>
<dd>
1.46 Fixed error in documentation for runToPosition(). Reinstated time calculations in runSpeed() since new version is reported not to work correctly under some circumstances. Reported by Oleg V Gavva.<br />
</dd>
<dd>
1.48 2015-08-25 Added new class <a class="el" href="classMultiStepper.html" title="Operate multiple AccelSteppers in a co-ordinated fashion. ">MultiStepper</a> that can manage multiple AccelSteppers, and cause them all to move to selected positions at such a (constant) speed that they all arrive at their target position at the same time. Suitable for X-Y flatbeds etc.<br />
Added new method maxSpeed() to <a class="el" href="classAccelStepper.html" title="Support for stepper motors with acceleration etc. ">AccelStepper</a> to return the currently configured maxSpeed.<br />
</dd>
<dd>
1.49 2016-01-02 Testing with VID28 series instrument stepper motors and EasyDriver. OK, although with light pointers and slow speeds like 180 full steps per second the motor movement can be erratic, probably due to some mechanical resonance. Best to accelerate through this speed.<br />
Added isRunning().<br />
</dd>
<dd>
1.50 2016-02-25 <a class="el" href="classAccelStepper.html#a3591e29a236e2935afd7f64ff6c22006">AccelStepper::disableOutputs</a> now sets the enable pion to OUTPUT mode if the enable pin is defined. Patch from Piet De Jong.<br />
Added notes about the fact that AFMotor_* examples do not work with Adafruit Motor Shield V2.<br />
</dd>
<dd>
1.51 2016-03-24 Fixed a problem reported by gregor: when resetting the stepper motor position using setCurrentPosition() the stepper speed is reset by setting _stepInterval to 0, but _speed is not reset. this results in the stepper motor not starting again when calling setSpeed() with the same speed the stepper was set to before. </dd>
<dd>
1.52 2016-08-09 Added <a class="el" href="classMultiStepper.html" title="Operate multiple AccelSteppers in a co-ordinated fashion. ">MultiStepper</a> to keywords.txt. Improvements to efficiency of <a class="el" href="classAccelStepper.html#aa4a6bdf99f698284faaeb5542b0b7514">AccelStepper::runSpeed()</a> as suggested by David Grayson. Improvements to speed accuracy as suggested by David Grayson. </dd>
<dd>
1.53 2016-08-14 Backed out Improvements to speed accuracy from 1.52 as it did not work correctly. </dd>
<dd>
1.54 2017-01-24 Fixed some warnings about unused arguments. </dd>
<dd>
1.55 2017-01-25 Fixed another warning in MultiStepper.cpp </dd>
<dd>
1.56 2017-02-03 Fixed minor documentation error with DIRECTION_CCW and DIRECTION_CW. Reported by David Mutterer. Added link to Binpress commercial license purchasing.</dd></dl>
<dl class="section author"><dt>Author</dt><dd>Mike McCauley (<a href="#" onclick="location.href='mai'+'lto:'+'mik'+'em'+'@ai'+'rs'+'pay'+'ce'+'.co'+'m'; return false;">mikem<span style="display: none;">.nosp@m.</span>@air<span style="display: none;">.nosp@m.</span>spayc<span style="display: none;">.nosp@m.</span>e.co<span style="display: none;">.nosp@m.</span>m</a>) DO NOT CONTACT THE AUTHOR DIRECTLY: USE THE LISTS </dd></dl>
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#######################################
# Syntax Coloring Map For AccelStepper
#######################################
#######################################
# Datatypes (KEYWORD1)
#######################################
AccelStepper KEYWORD1
MultiStepper KEYWORD1
#######################################
# Methods and Functions (KEYWORD2)
#######################################
moveTo KEYWORD2
move KEYWORD2
run KEYWORD2
runSpeed KEYWORD2
setMaxSpeed KEYWORD2
setAcceleration KEYWORD2
setSpeed KEYWORD2
speed KEYWORD2
distanceToGo KEYWORD2
targetPosition KEYWORD2
currentPosition KEYWORD2
setCurrentPosition KEYWORD2
runToPosition KEYWORD2
runSpeedToPosition KEYWORD2
runToNewPosition KEYWORD2
stop KEYWORD2
disableOutputs KEYWORD2
enableOutputs KEYWORD2
setMinPulseWidth KEYWORD2
setEnablePin KEYWORD2
setPinsInverted KEYWORD2
maxSpeed KEYWORD2
#######################################
# Constants (LITERAL1)
#######################################

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name=AccelStepper
version=1.56
author=Mike McCauley <mikem@airspayce.com>
maintainer=Patrick Wasp <patrickwasp@gmail.com>
sentence=Provides an object-oriented interface for stepper motors.
category=Device Control
url=http://www.airspayce.com/mikem/arduino/AccelStepper/
architectures=avr
includes=AccelStepper.h, MultiStepper.h

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// AccelStepper.cpp
//
// Copyright (C) 2009-2013 Mike McCauley
// $Id: AccelStepper.cpp,v 1.23 2016/08/09 00:39:10 mikem Exp $
#include "AccelStepper.h"
#if 0
// Some debugging assistance
void dump(uint8_t* p, int l)
{
int i;
for (i = 0; i < l; i++)
{
Serial.print(p[i], HEX);
Serial.print(" ");
}
Serial.println("");
}
#endif
void AccelStepper::moveTo(long absolute)
{
if (_targetPos != absolute)
{
_targetPos = absolute;
computeNewSpeed();
// compute new n?
}
}
void AccelStepper::move(long relative)
{
moveTo(_currentPos + relative);
}
// Implements steps according to the current step interval
// You must call this at least once per step
// returns true if a step occurred
boolean AccelStepper::runSpeed()
{
// Dont do anything unless we actually have a step interval
if (!_stepInterval)
return false;
unsigned long time = micros();
if (time - _lastStepTime >= _stepInterval)
{
if (_direction == DIRECTION_CW)
{
// Clockwise
_currentPos += 1;
}
else
{
// Anticlockwise
_currentPos -= 1;
}
step(_currentPos);
_lastStepTime = time; // Caution: does not account for costs in step()
return true;
}
else
{
return false;
}
}
long AccelStepper::distanceToGo()
{
return _targetPos - _currentPos;
}
long AccelStepper::targetPosition()
{
return _targetPos;
}
long AccelStepper::currentPosition()
{
return _currentPos;
}
// Useful during initialisations or after initial positioning
// Sets speed to 0
void AccelStepper::setCurrentPosition(long position)
{
_targetPos = _currentPos = position;
_n = 0;
_stepInterval = 0;
_speed = 0.0;
}
void AccelStepper::computeNewSpeed()
{
long distanceTo = distanceToGo(); // +ve is clockwise from curent location
long stepsToStop = (long)((_speed * _speed) / (2.0 * _acceleration)); // Equation 16
if (distanceTo == 0 && stepsToStop <= 1)
{
// We are at the target and its time to stop
_stepInterval = 0;
_speed = 0.0;
_n = 0;
return;
}
if (distanceTo > 0)
{
// We are anticlockwise from the target
// Need to go clockwise from here, maybe decelerate now
if (_n > 0)
{
// Currently accelerating, need to decel now? Or maybe going the wrong way?
if ((stepsToStop >= distanceTo) || _direction == DIRECTION_CCW)
_n = -stepsToStop; // Start deceleration
}
else if (_n < 0)
{
// Currently decelerating, need to accel again?
if ((stepsToStop < distanceTo) && _direction == DIRECTION_CW)
_n = -_n; // Start accceleration
}
}
else if (distanceTo < 0)
{
// We are clockwise from the target
// Need to go anticlockwise from here, maybe decelerate
if (_n > 0)
{
// Currently accelerating, need to decel now? Or maybe going the wrong way?
if ((stepsToStop >= -distanceTo) || _direction == DIRECTION_CW)
_n = -stepsToStop; // Start deceleration
}
else if (_n < 0)
{
// Currently decelerating, need to accel again?
if ((stepsToStop < -distanceTo) && _direction == DIRECTION_CCW)
_n = -_n; // Start accceleration
}
}
// Need to accelerate or decelerate
if (_n == 0)
{
// First step from stopped
_cn = _c0;
_direction = (distanceTo > 0) ? DIRECTION_CW : DIRECTION_CCW;
}
else
{
// Subsequent step. Works for accel (n is +_ve) and decel (n is -ve).
_cn = _cn - ((2.0 * _cn) / ((4.0 * _n) + 1)); // Equation 13
_cn = max(_cn, _cmin);
}
_n++;
_stepInterval = _cn;
_speed = 1000000.0 / _cn;
if (_direction == DIRECTION_CCW)
_speed = -_speed;
#if 0
Serial.println(_speed);
Serial.println(_acceleration);
Serial.println(_cn);
Serial.println(_c0);
Serial.println(_n);
Serial.println(_stepInterval);
Serial.println(distanceTo);
Serial.println(stepsToStop);
Serial.println("-----");
#endif
}
// Run the motor to implement speed and acceleration in order to proceed to the target position
// You must call this at least once per step, preferably in your main loop
// If the motor is in the desired position, the cost is very small
// returns true if the motor is still running to the target position.
boolean AccelStepper::run()
{
if (runSpeed())
computeNewSpeed();
return _speed != 0.0 || distanceToGo() != 0;
}
AccelStepper::AccelStepper(uint8_t interface, uint8_t pin1, uint8_t pin2, uint8_t pin3, uint8_t pin4, bool enable)
{
_interface = interface;
_currentPos = 0;
_targetPos = 0;
_speed = 0.0;
_maxSpeed = 1.0;
_acceleration = 0.0;
_sqrt_twoa = 1.0;
_stepInterval = 0;
_minPulseWidth = 1;
_enablePin = 0xff;
_lastStepTime = 0;
_pin[0] = pin1;
_pin[1] = pin2;
_pin[2] = pin3;
_pin[3] = pin4;
// NEW
_n = 0;
_c0 = 0.0;
_cn = 0.0;
_cmin = 1.0;
_direction = DIRECTION_CCW;
int i;
for (i = 0; i < 4; i++)
_pinInverted[i] = 0;
if (enable)
enableOutputs();
// Some reasonable default
setAcceleration(1);
}
AccelStepper::AccelStepper(void (*forward)(), void (*backward)())
{
_interface = 0;
_currentPos = 0;
_targetPos = 0;
_speed = 0.0;
_maxSpeed = 1.0;
_acceleration = 0.0;
_sqrt_twoa = 1.0;
_stepInterval = 0;
_minPulseWidth = 1;
_enablePin = 0xff;
_lastStepTime = 0;
_pin[0] = 0;
_pin[1] = 0;
_pin[2] = 0;
_pin[3] = 0;
_forward = forward;
_backward = backward;
// NEW
_n = 0;
_c0 = 0.0;
_cn = 0.0;
_cmin = 1.0;
_direction = DIRECTION_CCW;
int i;
for (i = 0; i < 4; i++)
_pinInverted[i] = 0;
// Some reasonable default
setAcceleration(1);
}
void AccelStepper::setMaxSpeed(float speed)
{
if (_maxSpeed != speed)
{
_maxSpeed = speed;
_cmin = 1000000.0 / speed;
// Recompute _n from current speed and adjust speed if accelerating or cruising
if (_n > 0)
{
_n = (long)((_speed * _speed) / (2.0 * _acceleration)); // Equation 16
computeNewSpeed();
}
}
}
float AccelStepper::maxSpeed()
{
return _maxSpeed;
}
void AccelStepper::setAcceleration(float acceleration)
{
if (acceleration == 0.0)
return;
if (_acceleration != acceleration)
{
// Recompute _n per Equation 17
_n = _n * (_acceleration / acceleration);
// New c0 per Equation 7, with correction per Equation 15
_c0 = 0.676 * sqrt(2.0 / acceleration) * 1000000.0; // Equation 15
_acceleration = acceleration;
computeNewSpeed();
}
}
void AccelStepper::setSpeed(float speed)
{
if (speed == _speed)
return;
speed = constrain(speed, -_maxSpeed, _maxSpeed);
if (speed == 0.0)
_stepInterval = 0;
else
{
_stepInterval = fabs(1000000.0 / speed);
_direction = (speed > 0.0) ? DIRECTION_CW : DIRECTION_CCW;
}
_speed = speed;
}
float AccelStepper::speed()
{
return _speed;
}
// Subclasses can override
void AccelStepper::step(long step)
{
switch (_interface)
{
case FUNCTION:
step0(step);
break;
case DRIVER:
step1(step);
break;
case FULL2WIRE:
step2(step);
break;
case FULL3WIRE:
step3(step);
break;
case FULL4WIRE:
step4(step);
break;
case HALF3WIRE:
step6(step);
break;
case HALF4WIRE:
step8(step);
break;
}
}
// You might want to override this to implement eg serial output
// bit 0 of the mask corresponds to _pin[0]
// bit 1 of the mask corresponds to _pin[1]
// ....
void AccelStepper::setOutputPins(uint8_t mask)
{
uint8_t numpins = 2;
if (_interface == FULL4WIRE || _interface == HALF4WIRE)
numpins = 4;
else if (_interface == FULL3WIRE || _interface == HALF3WIRE)
numpins = 3;
uint8_t i;
for (i = 0; i < numpins; i++)
digitalWrite(_pin[i], (mask & (1 << i)) ? (HIGH ^ _pinInverted[i]) : (LOW ^ _pinInverted[i]));
}
// 0 pin step function (ie for functional usage)
void AccelStepper::step0(long step)
{
(void)(step); // Unused
if (_speed > 0)
_forward();
else
_backward();
}
// 1 pin step function (ie for stepper drivers)
// This is passed the current step number (0 to 7)
// Subclasses can override
void AccelStepper::step1(long step)
{
(void)(step); // Unused
// _pin[0] is step, _pin[1] is direction
setOutputPins(_direction ? 0b10 : 0b00); // Set direction first else get rogue pulses
setOutputPins(_direction ? 0b11 : 0b01); // step HIGH
// Caution 200ns setup time
// Delay the minimum allowed pulse width
delayMicroseconds(_minPulseWidth);
setOutputPins(_direction ? 0b10 : 0b00); // step LOW
}
// 2 pin step function
// This is passed the current step number (0 to 7)
// Subclasses can override
void AccelStepper::step2(long step)
{
switch (step & 0x3)
{
case 0: /* 01 */
setOutputPins(0b10);
break;
case 1: /* 11 */
setOutputPins(0b11);
break;
case 2: /* 10 */
setOutputPins(0b01);
break;
case 3: /* 00 */
setOutputPins(0b00);
break;
}
}
// 3 pin step function
// This is passed the current step number (0 to 7)
// Subclasses can override
void AccelStepper::step3(long step)
{
switch (step % 3)
{
case 0: // 100
setOutputPins(0b100);
break;
case 1: // 001
setOutputPins(0b001);
break;
case 2: //010
setOutputPins(0b010);
break;
}
}
// 4 pin step function for half stepper
// This is passed the current step number (0 to 7)
// Subclasses can override
void AccelStepper::step4(long step)
{
switch (step & 0x3)
{
case 0: // 1010
setOutputPins(0b0101);
break;
case 1: // 0110
setOutputPins(0b0110);
break;
case 2: //0101
setOutputPins(0b1010);
break;
case 3: //1001
setOutputPins(0b1001);
break;
}
}
// 3 pin half step function
// This is passed the current step number (0 to 7)
// Subclasses can override
void AccelStepper::step6(long step)
{
switch (step % 6)
{
case 0: // 100
setOutputPins(0b100);
break;
case 1: // 101
setOutputPins(0b101);
break;
case 2: // 001
setOutputPins(0b001);
break;
case 3: // 011
setOutputPins(0b011);
break;
case 4: // 010
setOutputPins(0b010);
break;
case 5: // 011
setOutputPins(0b110);
break;
}
}
// 4 pin half step function
// This is passed the current step number (0 to 7)
// Subclasses can override
void AccelStepper::step8(long step)
{
switch (step & 0x7)
{
case 0: // 1000
setOutputPins(0b0001);
break;
case 1: // 1010
setOutputPins(0b0101);
break;
case 2: // 0010
setOutputPins(0b0100);
break;
case 3: // 0110
setOutputPins(0b0110);
break;
case 4: // 0100
setOutputPins(0b0010);
break;
case 5: //0101
setOutputPins(0b1010);
break;
case 6: // 0001
setOutputPins(0b1000);
break;
case 7: //1001
setOutputPins(0b1001);
break;
}
}
// Prevents power consumption on the outputs
void AccelStepper::disableOutputs()
{
if (! _interface) return;
setOutputPins(0); // Handles inversion automatically
if (_enablePin != 0xff)
{
pinMode(_enablePin, OUTPUT);
digitalWrite(_enablePin, LOW ^ _enableInverted);
}
}
void AccelStepper::enableOutputs()
{
if (! _interface)
return;
pinMode(_pin[0], OUTPUT);
pinMode(_pin[1], OUTPUT);
if (_interface == FULL4WIRE || _interface == HALF4WIRE)
{
pinMode(_pin[2], OUTPUT);
pinMode(_pin[3], OUTPUT);
}
else if (_interface == FULL3WIRE || _interface == HALF3WIRE)
{
pinMode(_pin[2], OUTPUT);
}
if (_enablePin != 0xff)
{
pinMode(_enablePin, OUTPUT);
digitalWrite(_enablePin, HIGH ^ _enableInverted);
}
}
void AccelStepper::setMinPulseWidth(unsigned int minWidth)
{
_minPulseWidth = minWidth;
}
void AccelStepper::setEnablePin(uint8_t enablePin)
{
_enablePin = enablePin;
// This happens after construction, so init pin now.
if (_enablePin != 0xff)
{
pinMode(_enablePin, OUTPUT);
digitalWrite(_enablePin, HIGH ^ _enableInverted);
}
}
void AccelStepper::setPinsInverted(bool directionInvert, bool stepInvert, bool enableInvert)
{
_pinInverted[0] = stepInvert;
_pinInverted[1] = directionInvert;
_enableInverted = enableInvert;
}
void AccelStepper::setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert)
{
_pinInverted[0] = pin1Invert;
_pinInverted[1] = pin2Invert;
_pinInverted[2] = pin3Invert;
_pinInverted[3] = pin4Invert;
_enableInverted = enableInvert;
}
// Blocks until the target position is reached and stopped
void AccelStepper::runToPosition()
{
while (run())
;
}
boolean AccelStepper::runSpeedToPosition()
{
if (_targetPos == _currentPos)
return false;
if (_targetPos >_currentPos)
_direction = DIRECTION_CW;
else
_direction = DIRECTION_CCW;
return runSpeed();
}
// Blocks until the new target position is reached
void AccelStepper::runToNewPosition(long position)
{
moveTo(position);
runToPosition();
}
void AccelStepper::stop()
{
if (_speed != 0.0)
{
long stepsToStop = (long)((_speed * _speed) / (2.0 * _acceleration)) + 1; // Equation 16 (+integer rounding)
if (_speed > 0)
move(stepsToStop);
else
move(-stepsToStop);
}
}
bool AccelStepper::isRunning()
{
return !(_speed == 0.0 && _targetPos == _currentPos);
}

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// AccelStepper.h
//
/// \mainpage AccelStepper library for Arduino
///
/// This is the Arduino AccelStepper library.
/// It provides an object-oriented interface for 2, 3 or 4 pin stepper motors and motor drivers.
///
/// The standard Arduino IDE includes the Stepper library
/// (http://arduino.cc/en/Reference/Stepper) for stepper motors. It is
/// perfectly adequate for simple, single motor applications.
///
/// AccelStepper significantly improves on the standard Arduino Stepper library in several ways:
/// \li Supports acceleration and deceleration
/// \li Supports multiple simultaneous steppers, with independent concurrent stepping on each stepper
/// \li API functions never delay() or block
/// \li Supports 2, 3 and 4 wire steppers, plus 3 and 4 wire half steppers.
/// \li Supports alternate stepping functions to enable support of AFMotor (https://github.com/adafruit/Adafruit-Motor-Shield-library)
/// \li Supports stepper drivers such as the Sparkfun EasyDriver (based on 3967 driver chip)
/// \li Very slow speeds are supported
/// \li Extensive API
/// \li Subclass support
///
/// The latest version of this documentation can be downloaded from
/// http://www.airspayce.com/mikem/arduino/AccelStepper
/// The version of the package that this documentation refers to can be downloaded
/// from http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.56.zip
///
/// Example Arduino programs are included to show the main modes of use.
///
/// You can also find online help and discussion at http://groups.google.com/group/accelstepper
/// Please use that group for all questions and discussions on this topic.
/// Do not contact the author directly, unless it is to discuss commercial licensing.
/// Before asking a question or reporting a bug, please read
/// - http://en.wikipedia.org/wiki/Wikipedia:Reference_desk/How_to_ask_a_software_question
/// - http://www.catb.org/esr/faqs/smart-questions.html
/// - http://www.chiark.greenend.org.uk/~shgtatham/bugs.html
///
/// Tested on Arduino Diecimila and Mega with arduino-0018 & arduino-0021
/// on OpenSuSE 11.1 and avr-libc-1.6.1-1.15,
/// cross-avr-binutils-2.19-9.1, cross-avr-gcc-4.1.3_20080612-26.5.
/// Tested on Teensy http://www.pjrc.com/teensy including Teensy 3.1 built using Arduino IDE 1.0.5 with
/// teensyduino addon 1.18 and later.
///
/// \par Installation
///
/// Install in the usual way: unzip the distribution zip file to the libraries
/// sub-folder of your sketchbook.
///
/// \par Theory
///
/// This code uses speed calculations as described in
/// "Generate stepper-motor speed profiles in real time" by David Austin
/// http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf or
/// http://www.embedded.com/design/mcus-processors-and-socs/4006438/Generate-stepper-motor-speed-profiles-in-real-time or
/// http://web.archive.org/web/20140705143928/http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf
/// with the exception that AccelStepper uses steps per second rather than radians per second
/// (because we dont know the step angle of the motor)
/// An initial step interval is calculated for the first step, based on the desired acceleration
/// On subsequent steps, shorter step intervals are calculated based
/// on the previous step until max speed is achieved.
///
/// \par Adafruit Motor Shield V2
///
/// The included examples AFMotor_* are for Adafruit Motor Shield V1 and do not work with Adafruit Motor Shield V2.
/// See https://github.com/adafruit/Adafruit_Motor_Shield_V2_Library for examples that work with Adafruit Motor Shield V2.
///
/// \par Donations
///
/// This library is offered under a free GPL license for those who want to use it that way.
/// We try hard to keep it up to date, fix bugs
/// and to provide free support. If this library has helped you save time or money, please consider donating at
/// http://www.airspayce.com or here:
///
/// \htmlonly <form action="https://www.paypal.com/cgi-bin/webscr" method="post"><input type="hidden" name="cmd" value="_donations" /> <input type="hidden" name="business" value="mikem@airspayce.com" /> <input type="hidden" name="lc" value="AU" /> <input type="hidden" name="item_name" value="Airspayce" /> <input type="hidden" name="item_number" value="AccelStepper" /> <input type="hidden" name="currency_code" value="USD" /> <input type="hidden" name="bn" value="PP-DonationsBF:btn_donateCC_LG.gif:NonHosted" /> <input type="image" alt="PayPal — The safer, easier way to pay online." name="submit" src="https://www.paypalobjects.com/en_AU/i/btn/btn_donateCC_LG.gif" /> <img alt="" src="https://www.paypalobjects.com/en_AU/i/scr/pixel.gif" width="1" height="1" border="0" /></form> \endhtmlonly
///
/// \par Trademarks
///
/// AccelStepper is a trademark of AirSpayce Pty Ltd. The AccelStepper mark was first used on April 26 2010 for
/// international trade, and is used only in relation to motor control hardware and software.
/// It is not to be confused with any other similar marks covering other goods and services.
///
/// \par Copyright
///
/// This software is Copyright (C) 2010 Mike McCauley. Use is subject to license
/// conditions. The main licensing options available are GPL V2 or Commercial:
///
/// \par Open Source Licensing GPL V2
/// This is the appropriate option if you want to share the source code of your
/// application with everyone you distribute it to, and you also want to give them
/// the right to share who uses it. If you wish to use this software under Open
/// Source Licensing, you must contribute all your source code to the open source
/// community in accordance with the GPL Version 2 when your application is
/// distributed. See https://www.gnu.org/licenses/gpl-2.0.html
///
/// \par Commercial Licensing
/// This is the appropriate option if you are creating proprietary applications
/// and you are not prepared to distribute and share the source code of your
/// application. Purchase commercial licenses at http://airspayce.binpress.com/product/accelstepper/3846
///
/// \par Revision History
/// \version 1.0 Initial release
///
/// \version 1.1 Added speed() function to get the current speed.
/// \version 1.2 Added runSpeedToPosition() submitted by Gunnar Arndt.
/// \version 1.3 Added support for stepper drivers (ie with Step and Direction inputs) with _pins == 1
/// \version 1.4 Added functional contructor to support AFMotor, contributed by Limor, with example sketches.
/// \version 1.5 Improvements contributed by Peter Mousley: Use of microsecond steps and other speed improvements
/// to increase max stepping speed to about 4kHz. New option for user to set the min allowed pulse width.
/// Added checks for already running at max speed and skip further calcs if so.
/// \version 1.6 Fixed a problem with wrapping of microsecond stepping that could cause stepping to hang.
/// Reported by Sandy Noble.
/// Removed redundant _lastRunTime member.
/// \version 1.7 Fixed a bug where setCurrentPosition() did not always work as expected.
/// Reported by Peter Linhart.
/// \version 1.8 Added support for 4 pin half-steppers, requested by Harvey Moon
/// \version 1.9 setCurrentPosition() now also sets motor speed to 0.
/// \version 1.10 Builds on Arduino 1.0
/// \version 1.11 Improvments from Michael Ellison:
/// Added optional enable line support for stepper drivers
/// Added inversion for step/direction/enable lines for stepper drivers
/// \version 1.12 Announce Google Group
/// \version 1.13 Improvements to speed calculation. Cost of calculation is now less in the worst case,
/// and more or less constant in all cases. This should result in slightly beter high speed performance, and
/// reduce anomalous speed glitches when other steppers are accelerating.
/// However, its hard to see how to replace the sqrt() required at the very first step from 0 speed.
/// \version 1.14 Fixed a problem with compiling under arduino 0021 reported by EmbeddedMan
/// \version 1.15 Fixed a problem with runSpeedToPosition which did not correctly handle
/// running backwards to a smaller target position. Added examples
/// \version 1.16 Fixed some cases in the code where abs() was used instead of fabs().
/// \version 1.17 Added example ProportionalControl
/// \version 1.18 Fixed a problem: If one calls the funcion runSpeed() when Speed is zero, it makes steps
/// without counting. reported by Friedrich, Klappenbach.
/// \version 1.19 Added MotorInterfaceType and symbolic names for the number of pins to use
/// for the motor interface. Updated examples to suit.
/// Replaced individual pin assignment variables _pin1, _pin2 etc with array _pin[4].
/// _pins member changed to _interface.
/// Added _pinInverted array to simplify pin inversion operations.
/// Added new function setOutputPins() which sets the motor output pins.
/// It can be overridden in order to provide, say, serial output instead of parallel output
/// Some refactoring and code size reduction.
/// \version 1.20 Improved documentation and examples to show need for correctly
/// specifying AccelStepper::FULL4WIRE and friends.
/// \version 1.21 Fixed a problem where desiredSpeed could compute the wrong step acceleration
/// when _speed was small but non-zero. Reported by Brian Schmalz.
/// Precompute sqrt_twoa to improve performance and max possible stepping speed
/// \version 1.22 Added Bounce.pde example
/// Fixed a problem where calling moveTo(), setMaxSpeed(), setAcceleration() more
/// frequently than the step time, even
/// with the same values, would interfere with speed calcs. Now a new speed is computed
/// only if there was a change in the set value. Reported by Brian Schmalz.
/// \version 1.23 Rewrite of the speed algorithms in line with
/// http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf
/// Now expect smoother and more linear accelerations and decelerations. The desiredSpeed()
/// function was removed.
/// \version 1.24 Fixed a problem introduced in 1.23: with runToPosition, which did never returned
/// \version 1.25 Now ignore attempts to set acceleration to 0.0
/// \version 1.26 Fixed a problem where certina combinations of speed and accelration could cause
/// oscillation about the target position.
/// \version 1.27 Added stop() function to stop as fast as possible with current acceleration parameters.
/// Also added new Quickstop example showing its use.
/// \version 1.28 Fixed another problem where certain combinations of speed and accelration could cause
/// oscillation about the target position.
/// Added support for 3 wire full and half steppers such as Hard Disk Drive spindle.
/// Contributed by Yuri Ivatchkovitch.
/// \version 1.29 Fixed a problem that could cause a DRIVER stepper to continually step
/// with some sketches. Reported by Vadim.
/// \version 1.30 Fixed a problem that could cause stepper to back up a few steps at the end of
/// accelerated travel with certain speeds. Reported and patched by jolo.
/// \version 1.31 Updated author and distribution location details to airspayce.com
/// \version 1.32 Fixed a problem with enableOutputs() and setEnablePin on Arduino Due that
/// prevented the enable pin changing stae correctly. Reported by Duane Bishop.
/// \version 1.33 Fixed an error in example AFMotor_ConstantSpeed.pde did not setMaxSpeed();
/// Fixed a problem that caused incorrect pin sequencing of FULL3WIRE and HALF3WIRE.
/// Unfortunately this meant changing the signature for all step*() functions.
/// Added example MotorShield, showing how to use AdaFruit Motor Shield to control
/// a 3 phase motor such as a HDD spindle motor (and without using the AFMotor library.
/// \version 1.34 Added setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert)
/// to allow inversion of 2, 3 and 4 wire stepper pins. Requested by Oleg.
/// \version 1.35 Removed default args from setPinsInverted(bool, bool, bool, bool, bool) to prevent ambiguity with
/// setPinsInverted(bool, bool, bool). Reported by Mac Mac.
/// \version 1.36 Changed enableOutputs() and disableOutputs() to be virtual so can be overridden.
/// Added new optional argument 'enable' to constructor, which allows you toi disable the
/// automatic enabling of outputs at construction time. Suggested by Guido.
/// \version 1.37 Fixed a problem with step1 that could cause a rogue step in the
/// wrong direction (or not,
/// depending on the setup-time requirements of the connected hardware).
/// Reported by Mark Tillotson.
/// \version 1.38 run() function incorrectly always returned true. Updated function and doc so it returns true
/// if the motor is still running to the target position.
/// \version 1.39 Updated typos in keywords.txt, courtesey Jon Magill.
/// \version 1.40 Updated documentation, including testing on Teensy 3.1
/// \version 1.41 Fixed an error in the acceleration calculations, resulting in acceleration of haldf the intended value
/// \version 1.42 Improved support for FULL3WIRE and HALF3WIRE output pins. These changes were in Yuri's original
/// contribution but did not make it into production.<br>
/// \version 1.43 Added DualMotorShield example. Shows how to use AccelStepper to control 2 x 2 phase steppers using the
/// Itead Studio Arduino Dual Stepper Motor Driver Shield model IM120417015.<br>
/// \version 1.44 examples/DualMotorShield/DualMotorShield.ino examples/DualMotorShield/DualMotorShield.pde
/// was missing from the distribution.<br>
/// \version 1.45 Fixed a problem where if setAcceleration was not called, there was no default
/// acceleration. Reported by Michael Newman.<br>
/// \version 1.45 Fixed inaccuracy in acceleration rate by using Equation 15, suggested by Sebastian Gracki.<br>
/// Performance improvements in runSpeed suggested by Jaakko Fagerlund.<br>
/// \version 1.46 Fixed error in documentation for runToPosition().
/// Reinstated time calculations in runSpeed() since new version is reported
/// not to work correctly under some circumstances. Reported by Oleg V Gavva.<br>
/// \version 1.48 2015-08-25
/// Added new class MultiStepper that can manage multiple AccelSteppers,
/// and cause them all to move
/// to selected positions at such a (constant) speed that they all arrive at their
/// target position at the same time. Suitable for X-Y flatbeds etc.<br>
/// Added new method maxSpeed() to AccelStepper to return the currently configured maxSpeed.<br>
/// \version 1.49 2016-01-02
/// Testing with VID28 series instrument stepper motors and EasyDriver.
/// OK, although with light pointers
/// and slow speeds like 180 full steps per second the motor movement can be erratic,
/// probably due to some mechanical resonance. Best to accelerate through this speed.<br>
/// Added isRunning().<br>
/// \version 1.50 2016-02-25
/// AccelStepper::disableOutputs now sets the enable pion to OUTPUT mode if the enable pin is defined.
/// Patch from Piet De Jong.<br>
/// Added notes about the fact that AFMotor_* examples do not work with Adafruit Motor Shield V2.<br>
/// \version 1.51 2016-03-24
/// Fixed a problem reported by gregor: when resetting the stepper motor position using setCurrentPosition() the
/// stepper speed is reset by setting _stepInterval to 0, but _speed is not
/// reset. this results in the stepper motor not starting again when calling
/// setSpeed() with the same speed the stepper was set to before.
/// \version 1.52 2016-08-09
/// Added MultiStepper to keywords.txt.
/// Improvements to efficiency of AccelStepper::runSpeed() as suggested by David Grayson.
/// Improvements to speed accuracy as suggested by David Grayson.
/// \version 1.53 2016-08-14
/// Backed out Improvements to speed accuracy from 1.52 as it did not work correctly.
/// \version 1.54 2017-01-24
/// Fixed some warnings about unused arguments.
/// \version 1.55 2017-01-25
/// Fixed another warning in MultiStepper.cpp
/// \version 1.56 2017-02-03
/// Fixed minor documentation error with DIRECTION_CCW and DIRECTION_CW. Reported by David Mutterer.
/// Added link to Binpress commercial license purchasing.
///
/// \author Mike McCauley (mikem@airspayce.com) DO NOT CONTACT THE AUTHOR DIRECTLY: USE THE LISTS
// Copyright (C) 2009-2013 Mike McCauley
// $Id: AccelStepper.h,v 1.27 2016/08/14 10:26:54 mikem Exp mikem $
#ifndef AccelStepper_h
#define AccelStepper_h
#include <stdlib.h>
#if ARDUINO >= 100
#include <Arduino.h>
#else
#include <WProgram.h>
#include <wiring.h>
#endif
// These defs cause trouble on some versions of Arduino
#undef round
/////////////////////////////////////////////////////////////////////
/// \class AccelStepper AccelStepper.h <AccelStepper.h>
/// \brief Support for stepper motors with acceleration etc.
///
/// This defines a single 2 or 4 pin stepper motor, or stepper moter with fdriver chip, with optional
/// acceleration, deceleration, absolute positioning commands etc. Multiple
/// simultaneous steppers are supported, all moving
/// at different speeds and accelerations.
///
/// \par Operation
/// This module operates by computing a step time in microseconds. The step
/// time is recomputed after each step and after speed and acceleration
/// parameters are changed by the caller. The time of each step is recorded in
/// microseconds. The run() function steps the motor once if a new step is due.
/// The run() function must be called frequently until the motor is in the
/// desired position, after which time run() will do nothing.
///
/// \par Positioning
/// Positions are specified by a signed long integer. At
/// construction time, the current position of the motor is consider to be 0. Positive
/// positions are clockwise from the initial position; negative positions are
/// anticlockwise. The current position can be altered for instance after
/// initialization positioning.
///
/// \par Caveats
/// This is an open loop controller: If the motor stalls or is oversped,
/// AccelStepper will not have a correct
/// idea of where the motor really is (since there is no feedback of the motor's
/// real position. We only know where we _think_ it is, relative to the
/// initial starting point).
///
/// \par Performance
/// The fastest motor speed that can be reliably supported is about 4000 steps per
/// second at a clock frequency of 16 MHz on Arduino such as Uno etc.
/// Faster processors can support faster stepping speeds.
/// However, any speed less than that
/// down to very slow speeds (much less than one per second) are also supported,
/// provided the run() function is called frequently enough to step the motor
/// whenever required for the speed set.
/// Calling setAcceleration() is expensive,
/// since it requires a square root to be calculated.
///
/// Gregor Christandl reports that with an Arduino Due and a simple test program,
/// he measured 43163 steps per second using runSpeed(),
/// and 16214 steps per second using run();
class AccelStepper
{
public:
/// \brief Symbolic names for number of pins.
/// Use this in the pins argument the AccelStepper constructor to
/// provide a symbolic name for the number of pins
/// to use.
typedef enum
{
FUNCTION = 0, ///< Use the functional interface, implementing your own driver functions (internal use only)
DRIVER = 1, ///< Stepper Driver, 2 driver pins required
FULL2WIRE = 2, ///< 2 wire stepper, 2 motor pins required
FULL3WIRE = 3, ///< 3 wire stepper, such as HDD spindle, 3 motor pins required
FULL4WIRE = 4, ///< 4 wire full stepper, 4 motor pins required
HALF3WIRE = 6, ///< 3 wire half stepper, such as HDD spindle, 3 motor pins required
HALF4WIRE = 8 ///< 4 wire half stepper, 4 motor pins required
} MotorInterfaceType;
/// Constructor. You can have multiple simultaneous steppers, all moving
/// at different speeds and accelerations, provided you call their run()
/// functions at frequent enough intervals. Current Position is set to 0, target
/// position is set to 0. MaxSpeed and Acceleration default to 1.0.
/// The motor pins will be initialised to OUTPUT mode during the
/// constructor by a call to enableOutputs().
/// \param[in] interface Number of pins to interface to. Integer values are
/// supported, but it is preferred to use the \ref MotorInterfaceType symbolic names.
/// AccelStepper::DRIVER (1) means a stepper driver (with Step and Direction pins).
/// If an enable line is also needed, call setEnablePin() after construction.
/// You may also invert the pins using setPinsInverted().
/// AccelStepper::FULL2WIRE (2) means a 2 wire stepper (2 pins required).
/// AccelStepper::FULL3WIRE (3) means a 3 wire stepper, such as HDD spindle (3 pins required).
/// AccelStepper::FULL4WIRE (4) means a 4 wire stepper (4 pins required).
/// AccelStepper::HALF3WIRE (6) means a 3 wire half stepper, such as HDD spindle (3 pins required)
/// AccelStepper::HALF4WIRE (8) means a 4 wire half stepper (4 pins required)
/// Defaults to AccelStepper::FULL4WIRE (4) pins.
/// \param[in] pin1 Arduino digital pin number for motor pin 1. Defaults
/// to pin 2. For a AccelStepper::DRIVER (interface==1),
/// this is the Step input to the driver. Low to high transition means to step)
/// \param[in] pin2 Arduino digital pin number for motor pin 2. Defaults
/// to pin 3. For a AccelStepper::DRIVER (interface==1),
/// this is the Direction input the driver. High means forward.
/// \param[in] pin3 Arduino digital pin number for motor pin 3. Defaults
/// to pin 4.
/// \param[in] pin4 Arduino digital pin number for motor pin 4. Defaults
/// to pin 5.
/// \param[in] enable If this is true (the default), enableOutputs() will be called to enable
/// the output pins at construction time.
AccelStepper(uint8_t interface = AccelStepper::FULL4WIRE, uint8_t pin1 = 2, uint8_t pin2 = 3, uint8_t pin3 = 4, uint8_t pin4 = 5, bool enable = true);
/// Alternate Constructor which will call your own functions for forward and backward steps.
/// You can have multiple simultaneous steppers, all moving
/// at different speeds and accelerations, provided you call their run()
/// functions at frequent enough intervals. Current Position is set to 0, target
/// position is set to 0. MaxSpeed and Acceleration default to 1.0.
/// Any motor initialization should happen before hand, no pins are used or initialized.
/// \param[in] forward void-returning procedure that will make a forward step
/// \param[in] backward void-returning procedure that will make a backward step
AccelStepper(void (*forward)(), void (*backward)());
/// Set the target position. The run() function will try to move the motor (at most one step per call)
/// from the current position to the target position set by the most
/// recent call to this function. Caution: moveTo() also recalculates the speed for the next step.
/// If you are trying to use constant speed movements, you should call setSpeed() after calling moveTo().
/// \param[in] absolute The desired absolute position. Negative is
/// anticlockwise from the 0 position.
void moveTo(long absolute);
/// Set the target position relative to the current position
/// \param[in] relative The desired position relative to the current position. Negative is
/// anticlockwise from the current position.
void move(long relative);
/// Poll the motor and step it if a step is due, implementing
/// accelerations and decelerations to acheive the target position. You must call this as
/// frequently as possible, but at least once per minimum step time interval,
/// preferably in your main loop. Note that each call to run() will make at most one step, and then only when a step is due,
/// based on the current speed and the time since the last step.
/// \return true if the motor is still running to the target position.
boolean run();
/// Poll the motor and step it if a step is due, implementing a constant
/// speed as set by the most recent call to setSpeed(). You must call this as
/// frequently as possible, but at least once per step interval,
/// \return true if the motor was stepped.
boolean runSpeed();
/// Sets the maximum permitted speed. The run() function will accelerate
/// up to the speed set by this function.
/// Caution: the maximum speed achievable depends on your processor and clock speed.
/// \param[in] speed The desired maximum speed in steps per second. Must
/// be > 0. Caution: Speeds that exceed the maximum speed supported by the processor may
/// Result in non-linear accelerations and decelerations.
void setMaxSpeed(float speed);
/// returns the maximum speed configured for this stepper
/// that was previously set by setMaxSpeed();
/// \return The currently configured maximum speed
float maxSpeed();
/// Sets the acceleration/deceleration rate.
/// \param[in] acceleration The desired acceleration in steps per second
/// per second. Must be > 0.0. This is an expensive call since it requires a square
/// root to be calculated. Dont call more ofthen than needed
void setAcceleration(float acceleration);
/// Sets the desired constant speed for use with runSpeed().
/// \param[in] speed The desired constant speed in steps per
/// second. Positive is clockwise. Speeds of more than 1000 steps per
/// second are unreliable. Very slow speeds may be set (eg 0.00027777 for
/// once per hour, approximately. Speed accuracy depends on the Arduino
/// crystal. Jitter depends on how frequently you call the runSpeed() function.
void setSpeed(float speed);
/// The most recently set speed
/// \return the most recent speed in steps per second
float speed();
/// The distance from the current position to the target position.
/// \return the distance from the current position to the target position
/// in steps. Positive is clockwise from the current position.
long distanceToGo();
/// The most recently set target position.
/// \return the target position
/// in steps. Positive is clockwise from the 0 position.
long targetPosition();
/// The currently motor position.
/// \return the current motor position
/// in steps. Positive is clockwise from the 0 position.
long currentPosition();
/// Resets the current position of the motor, so that wherever the motor
/// happens to be right now is considered to be the new 0 position. Useful
/// for setting a zero position on a stepper after an initial hardware
/// positioning move.
/// Has the side effect of setting the current motor speed to 0.
/// \param[in] position The position in steps of wherever the motor
/// happens to be right now.
void setCurrentPosition(long position);
/// Moves the motor (with acceleration/deceleration)
/// to the target position and blocks until it is at
/// position. Dont use this in event loops, since it blocks.
void runToPosition();
/// Runs at the currently selected speed until the target position is reached
/// Does not implement accelerations.
/// \return true if it stepped
boolean runSpeedToPosition();
/// Moves the motor (with acceleration/deceleration)
/// to the new target position and blocks until it is at
/// position. Dont use this in event loops, since it blocks.
/// \param[in] position The new target position.
void runToNewPosition(long position);
/// Sets a new target position that causes the stepper
/// to stop as quickly as possible, using the current speed and acceleration parameters.
void stop();
/// Disable motor pin outputs by setting them all LOW
/// Depending on the design of your electronics this may turn off
/// the power to the motor coils, saving power.
/// This is useful to support Arduino low power modes: disable the outputs
/// during sleep and then reenable with enableOutputs() before stepping
/// again.
/// If the enable Pin is defined, sets it to OUTPUT mode and clears the pin to disabled.
virtual void disableOutputs();
/// Enable motor pin outputs by setting the motor pins to OUTPUT
/// mode. Called automatically by the constructor.
/// If the enable Pin is defined, sets it to OUTPUT mode and sets the pin to enabled.
virtual void enableOutputs();
/// Sets the minimum pulse width allowed by the stepper driver. The minimum practical pulse width is
/// approximately 20 microseconds. Times less than 20 microseconds
/// will usually result in 20 microseconds or so.
/// \param[in] minWidth The minimum pulse width in microseconds.
void setMinPulseWidth(unsigned int minWidth);
/// Sets the enable pin number for stepper drivers.
/// 0xFF indicates unused (default).
/// Otherwise, if a pin is set, the pin will be turned on when
/// enableOutputs() is called and switched off when disableOutputs()
/// is called.
/// \param[in] enablePin Arduino digital pin number for motor enable
/// \sa setPinsInverted
void setEnablePin(uint8_t enablePin = 0xff);
/// Sets the inversion for stepper driver pins
/// \param[in] directionInvert True for inverted direction pin, false for non-inverted
/// \param[in] stepInvert True for inverted step pin, false for non-inverted
/// \param[in] enableInvert True for inverted enable pin, false (default) for non-inverted
void setPinsInverted(bool directionInvert = false, bool stepInvert = false, bool enableInvert = false);
/// Sets the inversion for 2, 3 and 4 wire stepper pins
/// \param[in] pin1Invert True for inverted pin1, false for non-inverted
/// \param[in] pin2Invert True for inverted pin2, false for non-inverted
/// \param[in] pin3Invert True for inverted pin3, false for non-inverted
/// \param[in] pin4Invert True for inverted pin4, false for non-inverted
/// \param[in] enableInvert True for inverted enable pin, false (default) for non-inverted
void setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert);
/// Checks to see if the motor is currently running to a target
/// \return true if the speed is not zero or not at the target position
bool isRunning();
protected:
/// \brief Direction indicator
/// Symbolic names for the direction the motor is turning
typedef enum
{
DIRECTION_CCW = 0, ///< Counter-Clockwise
DIRECTION_CW = 1 ///< Clockwise
} Direction;
/// Forces the library to compute a new instantaneous speed and set that as
/// the current speed. It is called by
/// the library:
/// \li after each step
/// \li after change to maxSpeed through setMaxSpeed()
/// \li after change to acceleration through setAcceleration()
/// \li after change to target position (relative or absolute) through
/// move() or moveTo()
void computeNewSpeed();
/// Low level function to set the motor output pins
/// bit 0 of the mask corresponds to _pin[0]
/// bit 1 of the mask corresponds to _pin[1]
/// You can override this to impment, for example serial chip output insted of using the
/// output pins directly
virtual void setOutputPins(uint8_t mask);
/// Called to execute a step. Only called when a new step is
/// required. Subclasses may override to implement new stepping
/// interfaces. The default calls step1(), step2(), step4() or step8() depending on the
/// number of pins defined for the stepper.
/// \param[in] step The current step phase number (0 to 7)
virtual void step(long step);
/// Called to execute a step using stepper functions (pins = 0) Only called when a new step is
/// required. Calls _forward() or _backward() to perform the step
/// \param[in] step The current step phase number (0 to 7)
virtual void step0(long step);
/// Called to execute a step on a stepper driver (ie where pins == 1). Only called when a new step is
/// required. Subclasses may override to implement new stepping
/// interfaces. The default sets or clears the outputs of Step pin1 to step,
/// and sets the output of _pin2 to the desired direction. The Step pin (_pin1) is pulsed for 1 microsecond
/// which is the minimum STEP pulse width for the 3967 driver.
/// \param[in] step The current step phase number (0 to 7)
virtual void step1(long step);
/// Called to execute a step on a 2 pin motor. Only called when a new step is
/// required. Subclasses may override to implement new stepping
/// interfaces. The default sets or clears the outputs of pin1 and pin2
/// \param[in] step The current step phase number (0 to 7)
virtual void step2(long step);
/// Called to execute a step on a 3 pin motor, such as HDD spindle. Only called when a new step is
/// required. Subclasses may override to implement new stepping
/// interfaces. The default sets or clears the outputs of pin1, pin2,
/// pin3
/// \param[in] step The current step phase number (0 to 7)
virtual void step3(long step);
/// Called to execute a step on a 4 pin motor. Only called when a new step is
/// required. Subclasses may override to implement new stepping
/// interfaces. The default sets or clears the outputs of pin1, pin2,
/// pin3, pin4.
/// \param[in] step The current step phase number (0 to 7)
virtual void step4(long step);
/// Called to execute a step on a 3 pin motor, such as HDD spindle. Only called when a new step is
/// required. Subclasses may override to implement new stepping
/// interfaces. The default sets or clears the outputs of pin1, pin2,
/// pin3
/// \param[in] step The current step phase number (0 to 7)
virtual void step6(long step);
/// Called to execute a step on a 4 pin half-steper motor. Only called when a new step is
/// required. Subclasses may override to implement new stepping
/// interfaces. The default sets or clears the outputs of pin1, pin2,
/// pin3, pin4.
/// \param[in] step The current step phase number (0 to 7)
virtual void step8(long step);
private:
/// Number of pins on the stepper motor. Permits 2 or 4. 2 pins is a
/// bipolar, and 4 pins is a unipolar.
uint8_t _interface; // 0, 1, 2, 4, 8, See MotorInterfaceType
/// Arduino pin number assignments for the 2 or 4 pins required to interface to the
/// stepper motor or driver
uint8_t _pin[4];
/// Whether the _pins is inverted or not
uint8_t _pinInverted[4];
/// The current absolution position in steps.
long _currentPos; // Steps
/// The target position in steps. The AccelStepper library will move the
/// motor from the _currentPos to the _targetPos, taking into account the
/// max speed, acceleration and deceleration
long _targetPos; // Steps
/// The current motos speed in steps per second
/// Positive is clockwise
float _speed; // Steps per second
/// The maximum permitted speed in steps per second. Must be > 0.
float _maxSpeed;
/// The acceleration to use to accelerate or decelerate the motor in steps
/// per second per second. Must be > 0
float _acceleration;
float _sqrt_twoa; // Precomputed sqrt(2*_acceleration)
/// The current interval between steps in microseconds.
/// 0 means the motor is currently stopped with _speed == 0
unsigned long _stepInterval;
/// The last step time in microseconds
unsigned long _lastStepTime;
/// The minimum allowed pulse width in microseconds
unsigned int _minPulseWidth;
/// Is the direction pin inverted?
///bool _dirInverted; /// Moved to _pinInverted[1]
/// Is the step pin inverted?
///bool _stepInverted; /// Moved to _pinInverted[0]
/// Is the enable pin inverted?
bool _enableInverted;
/// Enable pin for stepper driver, or 0xFF if unused.
uint8_t _enablePin;
/// The pointer to a forward-step procedure
void (*_forward)();
/// The pointer to a backward-step procedure
void (*_backward)();
/// The step counter for speed calculations
long _n;
/// Initial step size in microseconds
float _c0;
/// Last step size in microseconds
float _cn;
/// Min step size in microseconds based on maxSpeed
float _cmin; // at max speed
/// Current direction motor is spinning in
boolean _direction; // 1 == CW
};
/// @example Random.pde
/// Make a single stepper perform random changes in speed, position and acceleration
/// @example Overshoot.pde
/// 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
/// @example MultipleSteppers.pde
/// Shows how to multiple simultaneous steppers
/// Runs one stepper forwards and backwards, accelerating and decelerating
/// at the limits. Runs other steppers at the same time
/// @example ConstantSpeed.pde
/// Shows how to run AccelStepper in the simplest,
/// fixed speed mode with no accelerations
/// @example Blocking.pde
/// Shows how to use the blocking call runToNewPosition
/// Which sets a new target position and then waits until the stepper has
/// achieved it.
/// @example AFMotor_MultiStepper.pde
/// Control both Stepper motors at the same time with different speeds
/// and accelerations.
/// @example AFMotor_ConstantSpeed.pde
/// Shows how to run AccelStepper in the simplest,
/// fixed speed mode with no accelerations
/// @example ProportionalControl.pde
/// Make a single stepper follow the analog value read from a pot or whatever
/// The stepper will move at a constant speed to each newly set posiiton,
/// depending on the value of the pot.
/// @example Bounce.pde
/// Make a single stepper bounce from one limit to another, observing
/// accelrations at each end of travel
/// @example Quickstop.pde
/// Check stop handling.
/// Calls stop() while the stepper is travelling at full speed, causing
/// the stepper to stop as quickly as possible, within the constraints of the
/// current acceleration.
/// @example MotorShield.pde
/// Shows how to use AccelStepper to control a 3-phase motor, such as a HDD spindle motor
/// using the Adafruit Motor Shield http://www.ladyada.net/make/mshield/index.html.
/// @example DualMotorShield.pde
/// Shows how to use AccelStepper to control 2 x 2 phase steppers using the
/// Itead Studio Arduino Dual Stepper Motor Driver Shield
/// model IM120417015
#endif

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// MultiStepper.cpp
//
// Copyright (C) 2015 Mike McCauley
// $Id: MultiStepper.cpp,v 1.2 2015/10/04 05:16:38 mikem Exp $
#include "MultiStepper.h"
#include "AccelStepper.h"
MultiStepper::MultiStepper()
: _num_steppers(0)
{
}
boolean MultiStepper::addStepper(AccelStepper& stepper)
{
if (_num_steppers >= MULTISTEPPER_MAX_STEPPERS)
return false; // No room for more
_steppers[_num_steppers++] = &stepper;
return true;
}
void MultiStepper::moveTo(long absolute[])
{
// First find the stepper that will take the longest time to move
float longestTime = 0.0;
uint8_t i;
for (i = 0; i < _num_steppers; i++)
{
long thisDistance = absolute[i] - _steppers[i]->currentPosition();
float thisTime = abs(thisDistance) / _steppers[i]->maxSpeed();
if (thisTime > longestTime)
longestTime = thisTime;
}
if (longestTime > 0.0)
{
// Now work out a new max speed for each stepper so they will all
// arrived at the same time of longestTime
for (i = 0; i < _num_steppers; i++)
{
long thisDistance = absolute[i] - _steppers[i]->currentPosition();
float thisSpeed = thisDistance / longestTime;
_steppers[i]->moveTo(absolute[i]); // New target position (resets speed)
_steppers[i]->setSpeed(thisSpeed); // New speed
}
}
}
// Returns true if any motor is still running to the target position.
boolean MultiStepper::run()
{
uint8_t i;
boolean ret = false;
for (i = 0; i < _num_steppers; i++)
{
if ( _steppers[i]->distanceToGo() != 0)
{
_steppers[i]->runSpeed();
ret = true;
}
}
return ret;
}
// Blocks until all steppers reach their target position and are stopped
void MultiStepper::runSpeedToPosition()
{
while (run())
;
}

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// MultiStepper.h
#ifndef MultiStepper_h
#define MultiStepper_h
#include <stdlib.h>
#if ARDUINO >= 100
#include <Arduino.h>
#else
#include <WProgram.h>
#include <wiring.h>
#endif
#define MULTISTEPPER_MAX_STEPPERS 10
class AccelStepper;
/////////////////////////////////////////////////////////////////////
/// \class MultiStepper MultiStepper.h <MultiStepper.h>
/// \brief Operate multiple AccelSteppers in a co-ordinated fashion
///
/// This class can manage multiple AccelSteppers (up to MULTISTEPPER_MAX_STEPPERS = 10),
/// and cause them all to move
/// to selected positions at such a (constant) speed that they all arrive at their
/// target position at the same time. This can be used to support devices with multiple steppers
/// on say multiple axes to cause linear diagonal motion. Suitable for use with X-Y plotters, flatbeds,
/// 3D printers etc
/// to get linear straight line movement between arbitrary 2d (or 3d or ...) positions.
///
/// Caution: only constant speed stepper motion is supported: acceleration and deceleration is not supported
/// All the steppers managed by MultiStepper will step at a constant speed to their
/// target (albeit perhaps different speeds for each stepper).
class MultiStepper
{
public:
/// Constructor
MultiStepper();
/// Add a stepper to the set of managed steppers
/// There is an upper limit of MULTISTEPPER_MAX_STEPPERS = 10 to the number of steppers that can be managed
/// \param[in] stepper Reference to a stepper to add to the managed list
/// \return true if successful. false if the number of managed steppers would exceed MULTISTEPPER_MAX_STEPPERS
boolean addStepper(AccelStepper& stepper);
/// Set the target positions of all managed steppers
/// according to a coordinate array.
/// New speeds will be computed for each stepper so they will all arrive at their
/// respective targets at very close to the same time.
/// \param[in] absolute An array of desired absolute stepper positions. absolute[0] will be used to set
/// the absolute position of the first stepper added by addStepper() etc. The array must be at least as long as
/// the number of steppers that have been added by addStepper, else results are undefined.
void moveTo(long absolute[]);
/// Calls runSpeed() on all the managed steppers
/// that have not acheived their target position.
/// \return true if any stepper is still in the process of running to its target position.
boolean run();
/// Runs all managed steppers until they acheived their target position.
/// Blocks until all that position is acheived. If you dont
/// want blocking consider using run() instead.
void runSpeedToPosition();
private:
/// Array of pointers to the steppers we are controlling.
/// Fills from 0 onwards
AccelStepper* _steppers[MULTISTEPPER_MAX_STEPPERS];
/// Number of steppers we are controlling and the number
/// of steppers in _steppers[]
uint8_t _num_steppers;
};
/// @example MultiStepper.pde
/// Use MultiStepper class to manage multiple steppers and make them all move to
/// the same position at the same time for linear 2d (or 3d) motion.
#endif