initial fork

examples/MultipleSteppers/MultipleSteppers.pde

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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();
+}