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StepperMotor-Serial.ino
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StepperMotor-Serial.ino
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#include <MobaTools.h>
const byte stepPin0 = 3;
const byte dirPin0 = 2;
const byte stepPin1 = 5;
const byte dirPin1 = 4;
MoToStepper stepper0( 200, STEPDIR );
MoToStepper stepper1( 200, STEPDIR );
void setup()
{
Serial.begin(115200);
Serial.setTimeout(1);
stepper0.attach( stepPin0, dirPin0 );
stepper0.setSpeedSteps(750); // = 75 steps/second (steps in 10 seconds)
stepper0.setRampLen(10);
stepper0.setZero();
stepper1.attach( stepPin1, dirPin1 );
stepper1.setSpeedSteps(500); // = 50 steps/second (steps in 10 seconds)
stepper1.setRampLen(10);
stepper1.setZero();
}
void loop()
{
int x = Serial.readString().toInt();
if (x != 0)
{
//stepper0.setSpeedSteps(x);
moveStepper0(100, x);
}
//moveStepper0(100, 500);
//moveStepper1(100, 500);
//delay(5000);
}
void moveStepper0(long stepPosToMove, long stepSpeed)
{
stepper0.setSpeedSteps(stepSpeed);
stepper0.moveTo(stepPosToMove);
stepper0.setZero();
}
void moveStepper1(long stepPosToMove, long stepSpeed)
{
stepper1.setSpeedSteps(stepSpeed);
stepper1.moveTo(stepPosToMove);
stepper1.setZero();
}
/* Nonblocking version
#include <MobaTools.h>
#define HOLDING true
#define ON_MOVE false
const byte stepPin0 = 3;
const byte dirPin0 = 2;
const byte stepPin1 = 5;
const byte dirPin1 = 4;
unsigned long timer = 0;
MoToStepper stepper0( 200, STEPDIR );
MoToStepper stepper1( 200, STEPDIR );
bool mode = false;
bool moving = false;
void setup()
{
Serial.begin(115200);
stepper0.attach( stepPin0, dirPin0 );
stepper0.setSpeedSteps(750); // = 75 steps/second (steps in 10 seconds)
stepper0.setRampLen(10);
stepper0.setZero();
stepper1.attach( stepPin1, dirPin1 );
stepper1.setSpeedSteps(500); // = 50 steps/second (steps in 10 seconds)
stepper1.setRampLen(10);
stepper1.setZero();
}
void loop()
{
// how many steps, speed (steps/sec * 10, 2000 = 200 sps)
moveStepper(stepper0, 200, 750);
moveStepper(stepper1, 100, 500);
// time between move in millis()
holdup(5000);
}
void moveStepper(MoToStepper stepper, long stepsToMove, long stepSpeed)
{
if (mode == ON_MOVE) // time to go?
{
if (moving == false) // stopped, set speed and steps. set to move
{
stepper.setSpeedSteps(stepSpeed);
stepper.move(stepsToMove);
moving = true;
}
else // in motion, check for ending position. mode to hold on end
{
if (stepper.moving() == 0)
{
mode = HOLDING;
moving = false;
timer = millis(); // record current time
}
}
}
}
void holdup(unsigned long stepDelay) // dwell between moves
{
if(mode == HOLDING)
{
if(millis() - timer >= stepDelay)
{
mode = ON_MOVE; // time to move again
}
}
}
*/