initial fork

examples/Quickstop/Quickstop.pde

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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
+
+}