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- #include <AccelStepper.h>
-
- AccelStepper stepper(1, 8, 7);
- int switchLow = A5;
- int speedLimit[2] = { 50 , 1000 } ;
- int accLimit[2] = { 100, 2000} ;
- long int moveTo_Stepper(long int stepto ) {
- stepper.moveTo( constrain( stepto , originPos * stepToCm, maxPos * stepToCm ) );
- return stepper.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();
- }
- 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 acceleration_Stepper( long int acc ){
- stepper.setAcceleration(acc + 1);
- return acc;
- }
- float init_Stepper(){
-
- stepper.setSpeed(-1*speedLimit[1]);
- while(digitalRead(switchLow)) {
- stepper.runSpeed();
- }
- stepper.stop();
-
- stepper.setCurrentPosition(0);
- delay(1000);
-
- stepper.setSpeed(speedLimit[1]);
- while(digitalRead(switchHigh)) {
- stepper.runSpeed();
- }
- stepper.stop();
- maxPos = stepper.currentPosition() / stepToCm ;
- delay(1000);
- stepper.runToNewPosition(maxPos * stepToCm / 2) ;
- return maxPos ;
- }
- void setup_Stepper(){
- pinMode (switchLow, INPUT_PULLUP);
- pinMode (switchHigh, INPUT_PULLUP);
- stepper.setMaxSpeed(speedLimit[1]);
-
- stepper.setAcceleration(accLimit[1]);
- }
- bool update_Stepper() {
-
- bool updated = 1 ;
- stepper.run();
-
- if (!digitalRead(switchLow)) {
- stepper.setCurrentPosition(0);
- updated=0;
- }
- if (!digitalRead(switchHigh)) {
- stepper.setCurrentPosition(maxPos * stepToCm);
- updated=0;
- }
- return updated ;
- }
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