multiple steppers version

First draft, compiled but not checked in real world :
* moved back stepper.run() to update_steppers() function
* handling of steppers in an array of Accelstepper objects
Modified functinos accordingly

C_Vieille_OSCstepperCtl.ino

@@ -6,15 +6,15 @@
 
 void setup() {
   setup_OSC();
-  setup_Stepper();
+  setup_steppers();
   delay(1000);
   sendOSC("/ended ", "setup");
-//  init_Stepper() ;
+//  init_steppers() ;
 
 }
 
 void loop() {
   handleOSCIn();
-//  update_Stepper();
-  stepper.run();
+  update_steppers();
+ // steppers.run();
 }

osc.h

@@ -33,6 +33,8 @@ void printTest(OSCMessage &msg) {
   sendOSC("/still", "up and running");
 }
 
+
+
 /////  STEPPER /////////
 
 
@@ -43,14 +45,14 @@ void printTest(OSCMessage &msg) {
 //}
 //
 void moveTo_Stepper_OSC (OSCMessage &msg){
-  long int distance = moveTo_Stepper(msg.getInt(0));
+  long int distance = moveTo_Stepper(msg.getInt(0), msg.getInt(1));
   sendOSC("/stepper/distanceToGo",distance );
 //  while (!stepper.distanceToGo()==0)
 //    stepper.run();
 }
 
 void move_Stepper_OSC (OSCMessage &msg){
-  long int distance = move_Stepper(msg.getInt(0));
+  long int distance = move_Stepper(msg.getInt(0), msg.getInt(1));
   sendOSC("/stepper/distanceToGo",distance );
 }
 //
@@ -65,17 +67,17 @@ void move_Stepper_OSC (OSCMessage &msg){
 //}
 
 void maxSpeed_Stepper (OSCMessage &msg){
-  long int max_speed = maxSpeed_Stepper(msg.getInt(0));
+  long int max_speed = maxSpeed_Stepper(msg.getInt(0), msg.getInt(1));
   sendOSC("/stepper/maxSpeed",max_speed );
 }
 
 void acceleration_Stepper (OSCMessage &msg){
-  long int acceleration = acceleration_Stepper(msg.getInt(0));
+  long int acceleration = acceleration_Stepper(msg.getInt(0), msg.getInt(1));
   sendOSC("/stepper/acceleration",acceleration );
 }
 
 void currentPos_Stepper_OSC(OSCMessage &msg) {
-  sendOSC("/stepper/currentPos", stepper.currentPosition());
+  sendOSC("/stepper/currentPos", steppers[msg.getInt(0)].currentPosition());
 }
 
 

stepper.h

@@ -16,7 +16,13 @@
  */
 
  // Define a stepper and the pins it will use
-AccelStepper stepper(1, 8, 7);
+const int NUM_OF_STEPPERS = 2 ;
+AccelStepper steppers[NUM_OF_STEPPERS] = {AccelStepper(1, 8, 7), AccelStepper(1, 10, 9)}; ;
+
+// Mechanical values
+long int STEPS_PER_TURN = 200 ; // stepper motor
+int MICROSTEPPING = 8 ; //stepper driver
+int REDUCTION_RATIO = 70 ;  // mechanical reduction ration to real camera rotation
 
 // microswitch pins
 int switchLow = A5;
@@ -24,45 +30,65 @@ int switchLow = A5;
 long int speedLimit[2] = { 50 , 10000000 } ;// sets an absolute minimum/maximum speed limit
 long int accLimit[2] = { 100, 200000} ;
 
-long int moveTo_Stepper(long int stepto ) {
-  stepper.moveTo(stepto);
-//  while (!stepper.distanceToGo()==0)
-//    stepper.run();
-//  stepper.moveTo( constrain( stepto , originPos * stepToCm, maxPos * stepToCm ) );
-  return stepper.distanceToGo();
+//////////// UTILITIES  ///////////////
+
+
+long int camRot2steps (float camRot ) {
+  return (long int) STEPS_PER_TURN * MICROSTEPPING * REDUCTION_RATIO *camRot ;
+}
+
+
+
+////////////  ACCELSTEPPER  /////////////
+
+void stop_Steppers (void) {
+  for(int i ; i < NUM_OF_STEPPERS ; i++ ) {
+    steppers[i].stop();
+  }
+  
+}
+
+long int moveTo_Stepper(int stepperIndex, long int stepto ) {
+  steppers[stepperIndex].moveTo(stepto);
+//  while (!steppers[stepperIndex].distanceToGo()==0)
+//    steppers[stepperIndex].run();
+//  steppers[stepperIndex].moveTo( constrain( stepto , originPos * stepToCm, maxPos * stepToCm ) );
+  return steppers[stepperIndex].distanceToGo();
 }
 //float moveToCm_Stepper(float cmto ) {
 //  stepper.moveTo(constrain( cmto * stepToCm , originPos, maxPos ));
 //  return stepper.distanceToGo()/stepToCm;
 //}
 //
-long int move_Stepper(long int stepRelative ) {
-  stepper.move(stepRelative);
-  return stepper.distanceToGo();
+long int move_Stepper(int stepperIndex, long int stepRelative ) {
+  steppers[stepperIndex].move(stepRelative);
+  return steppers[stepperIndex].distanceToGo();
 }
 //float moveCm_Stepper(float cmRelative ) {
 //  stepper.move(cmRelative * stepToCm );
 //  return stepper.distanceToGo()/stepToCm;
 //}
 //
-long int maxSpeed_Stepper(long int maxspeed){
-  stepper.setMaxSpeed( constrain (maxspeed, speedLimit[0], speedLimit[1] ) );
-  return stepper.maxSpeed();
+long int maxSpeed_Stepper(int stepperIndex, long int maxspeed){
+  steppers[stepperIndex].setMaxSpeed( constrain (maxspeed, speedLimit[0], speedLimit[1] ) );
+  return steppers[stepperIndex].maxSpeed();
 }
 
-long int setSpeed_Stepper(long int maxspeed){
-  stepper.setSpeed( constrain (maxspeed, speedLimit[0], speedLimit[1] ) );
-  return stepper.maxSpeed();
+long int setSpeed_Stepper(int stepperIndex, long int maxspeed){
+  steppers[stepperIndex].setSpeed( constrain (maxspeed, speedLimit[0], speedLimit[1] ) );
+  return steppers[stepperIndex].maxSpeed();
 }
 
-long int acceleration_Stepper( long int acc ){
-  stepper.setAcceleration(acc + 1); // prevent 0 step/s²
+long int acceleration_Stepper(int stepperIndex, long int acc ){
+  steppers[stepperIndex].setAcceleration(acc + 1); // prevent 0 step/s²
   return acc;
 }
 
+
+
 //////////////// CALIBRATION ////////////////////////
 
-float init_Stepper(){
+float init_steppers(){
 //  //run at constant speed until hitting switchLow
 //  stepper.setSpeed(-1*speedLimit[1]); 
 //  while(digitalRead(switchLow)) {
@@ -91,12 +117,14 @@ float init_Stepper(){
 }
 
 ///////////////////// SETUP ///////////////////////////
-void setup_Stepper(){
+void setup_steppers(){
   pinMode (switchLow, INPUT_PULLUP);
 //  pinMode (switchHigh, INPUT_PULLUP);
 //  stepper.moveTo(rand() % 200000);
-  stepper.setMaxSpeed( 20000);
-  stepper.setSpeed(10000);
+  for(int i ; i < NUM_OF_STEPPERS ; i++ ) {
+    steppers[i].setMaxSpeed( 20000);
+    steppers[i].setSpeed(10000);
+  }
 //  while (!stepper.distanceToGo()==0)
 //    stepper.run();
 //  stepper.moveTo(0);
@@ -110,10 +138,15 @@ void setup_Stepper(){
 
 ///////////////////// LOOP ///////////////////////////
 
-bool update_Stepper() {
+bool update_steppers() {
+
+  for(int i ; i < NUM_OF_STEPPERS ; i++ ) {
+    steppers[i].run();    
+  }
   
 //  bool updated = 1 ;
-  stepper.run();
+
+  
   
 //  if (!digitalRead(switchLow)) {
 //    stepper.setCurrentPosition(0);