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examples/DualMotorShield/DualMotorShield.pde

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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();
+}