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sequencer

added stepperCue to manage individual cues for each stepper
added sequencer to play up to 4 cues by stepper
play, step play, loop sequence
synchronised control improvements
bugfix on gotoStart, ensure that speed is set
Etienne Landon 7 years ago
parent
e589d09987
commit
26c748d905
3 changed files with 674 additions and 262 deletions
Unified View Show Diff Stats
  1. 29 15
      OSCstepperCtl.pd
  2. 404 247
      kostepper.pd
  3. 241 0
      stepperCue.pd

+ 29 - 15
OSCstepperCtl.pd
View File 

@@ -26,6 +26,7 @@
 
 #X msg 398 112 devicename /dev/ttyACM0 \, baud 115200 \, pollintervall
 
 #X msg 398 112 devicename /dev/ttyACM0 \, baud 115200 \, pollintervall
 
 1 \, verbose 1;
 
 1 \, verbose 1;
 
 #X connect 0 0 13 0;
 
 #X connect 0 0 13 0;
 
+#X connect 0 0 17 0;
 
 #X connect 2 0 11 0;
 
 #X connect 2 0 11 0;
 
 #X connect 2 1 3 0;
 
 #X connect 2 1 3 0;
 
 #X connect 4 0 2 0;
 
 #X connect 4 0 2 0;
 
@@ -43,23 +44,23 @@
 
 #X connect 19 0 17 0;
 
 #X connect 19 0 17 0;
 
 #X connect 20 0 2 0;
 
 #X connect 20 0 2 0;
 
 #X coords 0 -1 1 1 85 60 1 300 50;
 
 #X coords 0 -1 1 1 85 60 1 300 50;
 
-#X restore 614 354 pd SerialOSC;
 
+#X restore 747 137 pd SerialOSC;
 
 #X obj 723 491 print OSCin;
 
 #X obj 723 491 print OSCin;
 
 #X obj 721 357 r /fromOSC;
 
 #X obj 721 357 r /fromOSC;
 
 #X obj 721 379 t a a;
 
 #X obj 721 379 t a a;
 
 #X obj 721 470 spigot;
 
 #X obj 721 470 spigot;
 
 #X msg 753 405 \$1;
 
 #X msg 753 405 \$1;
 
 #X obj 753 427 == 3;
 
 #X obj 753 427 == 3;
 
-#X msg 616 329 /home;
 
+#X msg 749 112 /home;
 
 #N canvas 212 557 792 428 syncControl 0;
 
 #N canvas 212 557 792 428 syncControl 0;
 
 #X floatatom 42 268 5 0 0 0 - - -, f 5;
 
 #X floatatom 42 268 5 0 0 0 - - -, f 5;
 
 #X floatatom 218 275 5 0 0 0 - - -, f 5;
 
 #X floatatom 218 275 5 0 0 0 - - -, f 5;
 
 #X obj 23 49 unauthorized/grid grid1 200 -2 2 200 -2 2 1 0.01 0.01
 
 #X obj 23 49 unauthorized/grid grid1 200 -2 2 200 -2 2 1 0.01 0.01
 
-2 2 120 147;
 
+2 2 582 848;
 
 #X obj 23 300 t f f;
 
 #X obj 23 300 t f f;
 
 #X obj 23 341 abs;
 
 #X obj 23 341 abs;
 
 #X obj 23 362 s /stepper/0/manualSpeed;
 
 #X obj 23 362 s /stepper/0/manualSpeed;
 
-#X obj 123 309 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 0
 
+#X obj 123 309 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 1
 
 1;
 
 1;
 
 #X obj 70 317 > 0;
 
 #X obj 70 317 > 0;
 
 #X obj 70 338 s /stepper/0/manualDirection;
 
 #X obj 70 338 s /stepper/0/manualDirection;
 
@@ -70,19 +71,30 @@
 
 #X obj 289 322 > 0;
 
 #X obj 289 322 > 0;
 
 #X obj 289 343 s /stepper/1/manualDirection;
 
 #X obj 289 343 s /stepper/1/manualDirection;
 
 #X obj 242 367 s /stepper/1/manualSpeed;
 
 #X obj 242 367 s /stepper/1/manualSpeed;
 
-#X obj 240 51 tgl 15 0 empty empty MANUEL 17 7 0 10 -262144 -1 -1 0
 
+#X obj 22 28 tgl 15 0 empty empty MANUEL 17 7 0 10 -262144 -1 -1 0
 
 1;
 
 1;
 
-#X msg 241 92 \; /stepper/0/manualDrive \$1 \; /stepper/1/manualDrive
 
+#X msg 23 -29 \; /stepper/0/manualDrive \$1 \; /stepper/1/manualDrive
 
 \$1;
 
 \$1;
 
-#X obj 243 153 bng 15 250 50 0 empty empty empty 17 7 0 10 -262144
 
--1 -1;
 
-#X msg 243 173 \; /stepper/0/move/go bang \; /stepper/1/move/go bang
 
+#X obj 236 26 bng 15 250 50 0 empty empty empty 17 7 0 10 -262144 -1
 
+-1;
 
+#X msg 236 46 \; /stepper/0/move/go bang \; /stepper/1/move/go bang
 
 ;
 
 ;
 
-#X text 263 153 moveInSync;
 
-#X obj 243 213 bng 15 250 50 0 empty empty empty 17 7 0 10 -262144
 
+#X text 256 26 moveInSync;
 
+#X obj 361 14 bng 40 250 50 0 empty empty empty 17 7 0 10 -258113 -1
 
+-1;
 
+#X text 369 27 STOP;
 
+#X msg 422 14 \; /stepper/0/stop bang \; /stepper/1/stop bang;
 
+#X text 241 116 SEQUENCE;
 
+#X obj 252 158 bng 40 250 50 0 empty empty empty 17 7 0 10 -4034 -1
 
+-1;
 
+#X msg 410 173 \; /stepper/0/sequencer/go bang \; /stepper/1/sequencer/go
 
+bang;
 
+#X text 258 171 PLAY;
 
+#X obj 255 138 bng 15 250 50 0 empty empty empty 17 7 0 10 -262144
 
 -1 -1;
 
 -1 -1;
 
-#X text 263 213 STOP;
 
-#X msg 243 233 \; /stepper/0/stop bang \; /stepper/1/stop bang;
 
+#X text 274 136 goto_startPos;
 
+#X msg 420 123 \; /stepper/0/move/gotoStart bang \; /stepper/1/move/gotoStart
 
+bang;
 
 #X connect 2 0 0 0;
 
 #X connect 2 0 0 0;
 
 #X connect 2 0 3 0;
 
 #X connect 2 0 3 0;
 
 #X connect 2 1 1 0;
 
 #X connect 2 1 1 0;
 
@@ -100,10 +112,12 @@
 
 #X connect 15 0 16 0;
 
 #X connect 15 0 16 0;
 
 #X connect 17 0 18 0;
 
 #X connect 17 0 18 0;
 
 #X connect 20 0 22 0;
 
 #X connect 20 0 22 0;
 
+#X connect 24 0 25 0;
 
+#X connect 27 0 29 0;
 
 #X coords 0 -1 1 1 400 250 1 10 10;
 
 #X coords 0 -1 1 1 400 250 1 10 10;
 
-#X restore 470 707 pd syncControl;
 
+#X restore 157 714 pd syncControl;
 
 #X obj 12 13 kostepper 0;
 
 #X obj 12 13 kostepper 0;
 
-#X obj 13 253 kostepper 1;
 
+#X obj 12 362 kostepper 1;
 
 #X connect 2 0 3 0;
 
 #X connect 2 0 3 0;
 
 #X connect 3 0 4 0;
 
 #X connect 3 0 4 0;
 
 #X connect 3 1 5 0;
 
 #X connect 3 1 5 0;

+ 404 - 247
kostepper.pd
View File 

@@ -1,17 +1,17 @@
 
 #N canvas 1 55 1918 984 10;
 
 #N canvas 1 55 1918 984 10;
 
-#X obj 85 172 cnv 15 130 100 empty empty Status 2 8 0 14 -233017 -128992
 
+#X obj 85 172 cnv 15 130 200 empty empty Status 2 8 0 14 -233017 -128992
 
 0;
 
 0;
 
-#X obj 85 277 cnv 15 130 100 empty empty MANUEL 2 8 0 14 -233017 -128992
 
+#X obj 85 377 cnv 15 130 100 empty empty MANUEL 2 8 0 14 -233017 -128992
 
 0;
 
 0;
 
-#X obj 220 172 cnv 15 180 205 empty empty Move 2 8 0 14 -233017 -128992
 
+#X obj 220 172 cnv 15 180 305 empty empty Move 2 8 0 14 -233017 -128992
 
 0;
 
 0;
 
 #X obj 65 9 r /fromOSC;
 
 #X obj 65 9 r /fromOSC;
 
-#X floatatom 135 213 10 0 0 0 - - -, f 10;
 
-#X floatatom 135 231 10 0 0 0 - - -, f 10;
 
-#X floatatom 135 249 10 0 0 0 - - -, f 10;
 
-#X text 95 213 target;
 
-#X text 101 231 speed;
 
-#X text 83 249 maxspeed;
 
+#X floatatom 145 283 10 0 0 0 - - -, f 10;
 
+#X floatatom 145 311 10 0 0 0 - - -, f 10;
 
+#X floatatom 145 339 10 0 0 0 - - -, f 10;
 
+#X text 105 283 target;
 
+#X text 111 311 speed;
 
+#X text 93 339 maxspeed;
 
 #X obj 110 54 print stepper\$1;
 
 #X obj 110 54 print stepper\$1;
 
 #N canvas 1 55 450 300 filter\$1 0;
 
 #N canvas 1 55 450 300 filter\$1 0;
 
 #X obj 60 41 t a a;
 
 #X obj 60 41 t a a;
 
@@ -53,15 +53,12 @@
 
 #X connect 11 0 6 0;
 
 #X connect 11 0 6 0;
 
 #X restore 65 96 pd conversion;
 
 #X restore 65 96 pd conversion;
 
 #X obj 65 74 route /status /onTarget;
 
 #X obj 65 74 route /status /onTarget;
 
-#X obj 180 282 vsl 12 60 0 2 0 0 /stepper/\$1/manualSpeed /stepper/\$1/manualSpeed
 
-speed -10 70 0 10 -262144 -1 -1 5900 1;
 
-#X obj 105 344 hradio 15 1 0 2 /stepper/\$1/manualDirection /stepper/\$1/manualDirection
 
-direction -10 22 0 10 -262144 -1 -1 0;
 
+#X obj 180 382 vsl 12 60 0 2 0 0 /stepper/\$1/manualSpeed /stepper/\$1/manualSpeed
 
+speed -10 70 0 10 -262144 -1 -1 0 1;
 
+#X obj 105 444 hradio 15 1 0 2 /stepper/\$1/manualDirection /stepper/\$1/manualDirection
 
+direction -10 22 0 10 -262144 -1 -1 1;
 
 #X obj 270 175 bng 25 250 50 0 /stepper/\$1/move/go /stepper/\$1/move/go
 
 #X obj 270 175 bng 25 250 50 0 /stepper/\$1/move/go /stepper/\$1/move/go
 
 GO 6 13 0 10 -4034 -1 -1;
 
 GO 6 13 0 10 -4034 -1 -1;
 
-#X obj 1712 862 tof/menubutton 100 25 \$0-mbS \$0-mbR 1 grey90 black
 
-grey95 black 0 \, none \, test (autre copie).move \, test.move \, test (3e copie).move
 
-\, test (4e copie).move \, test (copie).move;
 
 #X obj 1486 706 list prepend add;
 
 #X obj 1486 706 list prepend add;
 
 #X obj 1486 727 list trim;
 
 #X obj 1486 727 list trim;
 
 #X obj 1482 606 ofGetPatchDirectory;
 
 #X obj 1482 606 ofGetPatchDirectory;
 
@@ -74,7 +71,6 @@ grey95 black 0 \, none \, test (autre copie).move \, test.move \, test (3e copie
 
 #X obj 1491 684 ofGetDirectoryFileNames move;
 
 #X obj 1491 684 ofGetDirectoryFileNames move;
 
 #N canvas 421 242 906 607 \$0-osc 0;
 
 #N canvas 421 242 906 607 \$0-osc 0;
 
 #X obj 44 54 kollabs/osc_bi \$2 /stepper/\$1/driveMode;
 
 #X obj 44 54 kollabs/osc_bi \$2 /stepper/\$1/driveMode;
 
-#X obj 44 144 kollabs/osc_bi \$2 /stepper/\$1/move;
 
 #X obj 44 164 kollabs/osc_bi \$2 /stepper/\$1/moveTo;
 
 #X obj 44 164 kollabs/osc_bi \$2 /stepper/\$1/moveTo;
 
 #X obj 44 224 kollabs/osc_bi \$2 /stepper/\$1/setSpeed;
 
 #X obj 44 224 kollabs/osc_bi \$2 /stepper/\$1/setSpeed;
 
 #X obj 44 244 kollabs/osc_bi \$2 /stepper/\$1/setMaxSpeed;
 
 #X obj 44 244 kollabs/osc_bi \$2 /stepper/\$1/setMaxSpeed;
 
@@ -90,62 +86,64 @@ grey95 black 0 \, none \, test (autre copie).move \, test.move \, test (3e copie
 
 #X msg 532 79 \; /stepper/\$1/accMode 0 \; /stepper/\$1/manualDrive
 
 #X msg 532 79 \; /stepper/\$1/accMode 0 \; /stepper/\$1/manualDrive
 
 0 \; /stepper/\$1/setSpeed 1 \; /stepper/\$1/setMaxSpeed 1 \; /stepper/\$1/acceleration
 
 0 \; /stepper/\$1/setSpeed 1 \; /stepper/\$1/setMaxSpeed 1 \; /stepper/\$1/acceleration
 
 1;
 
 1;
 
+#X obj 44 124 kollabs/osc_bi \$2 /stepper/\$1/move;
 
+#X obj 44 144 kollabs/osc_bi \$2 /stepper/\$1/move/deg;
 
+#X connect 11 0 12 0;
 
 #X connect 12 0 13 0;
 
 #X connect 12 0 13 0;
 
-#X connect 13 0 14 0;
 
-#X restore 346 384 pd \$0-osc;
 
-#X obj 717 101 route 0 1;
 
-#X obj 717 57 r /stepper/\$1/manualDrive;
 
-#X obj 728 124 r /stepper/\$1/accMode;
 
-#X obj 717 78 t f f;
 
-#X obj 717 165 f;
 
-#X msg 742 211 2;
 
-#X obj 717 229 s /stepper/\$1/driveMode;
 
-#X obj 717 186 spigot;
 
-#X obj 750 166 == 0;
 
-#X obj 106 298 tgl 35 0 /stepper/\$1/manualDrive /stepper/\$1/manualDrive
 
+#X restore 337 502 pd \$0-osc;
 
+#X obj 1022 80 route 0 1;
 
+#X obj 1022 36 r /stepper/\$1/manualDrive;
 
+#X obj 1033 103 r /stepper/\$1/accMode;
 
+#X obj 1022 57 t f f;
 
+#X obj 1022 144 f;
 
+#X msg 1047 190 2;
 
+#X obj 1022 208 s /stepper/\$1/driveMode;
 
+#X obj 1022 165 spigot;
 
+#X obj 1055 145 == 0;
 
+#X obj 106 398 tgl 35 0 /stepper/\$1/manualDrive /stepper/\$1/manualDrive
 
 empty 17 7 0 10 -204800 -33289 -1 0 1;
 
 empty 17 7 0 10 -204800 -33289 -1 0 1;
 
 #X obj 365 264 tgl 12 0 /stepper/\$1/accMode empty 0/1 17 7 0 10 -262144
 
 #X obj 365 264 tgl 12 0 /stepper/\$1/accMode empty 0/1 17 7 0 10 -262144
 
 -1 -1 0 1;
 
 -1 -1 0 1;
 
-#X text 752 29 SET DRIVE MODE;
 
-#X obj 544 490 / 60;
 
-#X obj 544 472 r /stepper/\$1/setMaxSpeed;
 
-#X obj 1340 272 r /stepper/\$1/driveMode;
 
-#X obj 429 574 list prepend;
 
-#X obj 1340 360 pack s f f;
 
-#X obj 1397 335 f \$1;
 
-#X obj 1397 313 loadbang;
 
-#X obj 1340 414 s /toOSC;
 
-#X msg 1340 392 /\$1 \$3 \$2;
 
-#X obj 509 552 r /stepper/\$1/driveMode;
 
-#X text 1360 256 SEND DRIVE MODE;
 
-#X obj 521 452 r /stepper/\$1/move;
 
-#X obj 429 448 f \$1;
 
-#X obj 1311 186 / 60;
 
-#X obj 578 510 / 60;
 
-#X obj 578 492 r /stepper/\$1/acceleration;
 
-#X obj 429 552 pack f f f f;
 
-#X obj 429 593 route 0 1;
 
-#X obj 1242 245 spigot;
 
-#X obj 1325 208 r /stepper/\$1/driveMode;
 
-#X obj 1325 229 == 2;
 
-#X msg 1242 264 setSpeed \$1;
 
-#X obj 728 145 == 0;
 
-#X msg 1340 293 driveMode \$1 \, setSpeed 0;
 
+#X text 1057 8 SET DRIVE MODE;
 
+#X obj 212 648 / 60;
 
+#X obj 212 630 r /stepper/\$1/setMaxSpeed;
 
+#X obj 1722 255 r /stepper/\$1/driveMode;
 
+#X obj 97 732 list prepend;
 
+#X obj 1722 343 pack s f f;
 
+#X obj 1779 318 f \$1;
 
+#X obj 1779 296 loadbang;
 
+#X obj 1722 397 s /toOSC;
 
+#X msg 1722 375 /\$1 \$3 \$2;
 
+#X obj 177 710 r /stepper/\$1/driveMode;
 
+#X text 1742 239 SEND DRIVE MODE;
 
+#X obj 189 610 r /stepper/\$1/move;
 
+#X obj 97 606 f \$1;
 
+#X obj 1693 169 / 60;
 
+#X obj 246 668 / 60;
 
+#X obj 246 650 r /stepper/\$1/acceleration;
 
+#X obj 97 710 pack f f f f;
 
+#X obj 97 751 route 0 1;
 
+#X obj 1624 228 spigot;
 
+#X obj 1707 191 r /stepper/\$1/driveMode;
 
+#X obj 1707 212 == 2;
 
+#X msg 1624 247 setSpeed \$1;
 
+#X obj 1033 124 == 0;
 
+#X msg 1722 276 driveMode \$1 \, setSpeed 0;
 
 #X obj 223 292 nbx 4 14 -1e+37 1e+37 0 0 /stepper/\$1/move /stepper/\$1/move
 
 #X obj 223 292 nbx 4 14 -1e+37 1e+37 0 0 /stepper/\$1/move /stepper/\$1/move
 
 tours 48 8 0 10 -262144 -1 -1 0 256;
 
 tours 48 8 0 10 -262144 -1 -1 0 256;
 
-#X obj 429 672 list;
 
-#X msg 454 647 move \$2 \$1 \, setSpeed \$3 \$1 \, getStatus \$1 \$1
 
+#X obj 97 830 list;
 
+#X msg 122 805 move \$2 \$1 \, setSpeed \$3 \$1 \, getStatus \$1 \$1
 
 ;
 
 ;
 
-#X text 1296 23 MANUAL SPEED;
 
-#X obj 1311 162 * 1;
 
-#X obj 1326 142 t b f;
 
-#X obj 1326 102 route 0 1;
 
-#X msg 1326 122 -1;
 
-#X msg 1355 122 1;
 
-#X obj 1326 76 r /stepper/\$1/manualDirection;
 
-#X obj 1311 51 r /stepper/\$1/manualSpeed;
 
-#X obj 168 359 nbx 4 14 -1e+37 1e+37 0 0 /stepper/\$1/manualSpeed /stepper/\$1/manualSpeed
 
-empty 0 -8 0 10 -262144 -1 -1 2 256;
 
+#X text 1678 6 MANUAL SPEED;
 
+#X obj 1693 145 * 1;
 
+#X obj 1708 125 t b f;
 
+#X obj 1708 85 route 0 1;
 
+#X msg 1708 105 -1;
 
+#X msg 1737 105 1;
 
+#X obj 1708 59 r /stepper/\$1/manualDirection;
 
+#X obj 1693 34 r /stepper/\$1/manualSpeed;
 
+#X obj 168 459 nbx 4 14 -1e+37 1e+37 0 0 /stepper/\$1/manualSpeed /stepper/\$1/manualSpeed
 
+empty 0 -8 0 10 -262144 -1 -1 0 256;
 
 #X obj 315 282 vsl 12 60 0 2 0 0 /stepper/\$1/setMaxSpeed /stepper/\$1/setMaxSpeed
 
 #X obj 315 282 vsl 12 60 0 2 0 0 /stepper/\$1/setMaxSpeed /stepper/\$1/setMaxSpeed
 
 speed -10 70 0 10 -262144 -1 -1 2950 1;
 
 speed -10 70 0 10 -262144 -1 -1 2950 1;
 
 #X obj 303 359 nbx 4 14 -1e+37 1e+37 0 0 /stepper/\$1/setMaxSpeed /stepper/\$1/setMaxSpeed
 
 #X obj 303 359 nbx 4 14 -1e+37 1e+37 0 0 /stepper/\$1/setMaxSpeed /stepper/\$1/setMaxSpeed
 
@@ -159,44 +157,37 @@ acc -2 70 0 10 -233017 -233017 -195568 2950 1;
 
 -128992 0;
 
 -128992 0;
 
 #X obj 197 175 bng 15 250 50 0 /stepper/\$1/updateStatus /stepper/\$1/updateStatus
 
 #X obj 197 175 bng 15 250 50 0 /stepper/\$1/updateStatus /stepper/\$1/updateStatus
 
 refresh -45 8 0 10 -262144 -1 -1;
 
 refresh -45 8 0 10 -262144 -1 -1;
 
-#X obj 892 162 r /stepper/\$1/updateStatus;
 
-#X obj 892 183 f \$1;
 
-#X msg 892 204 /getStatus \$1;
 
-#X obj 892 225 s /toOSC;
 
-#X text 1427 432 prise en compte du homing;
 
-#X text 1457 449 -> possibilité de placer le moteur en absolu sur
 
-360° modulo;
 
-#X text 1461 464 -> utilisation facultative du point de départ d'un
 
-move;
 
-#X obj 429 710 s /toOSC;
 
-#X msg 429 691 /\$1 \$3 \$2;
 
-#X obj 429 427 r /stepper/\$1/move/go;
 
-#X obj 720 343 loadbang;
 
+#X obj 1197 141 r /stepper/\$1/updateStatus;
 
+#X obj 1197 162 f \$1;
 
+#X msg 1197 183 /getStatus \$1;
 
+#X obj 1197 204 s /toOSC;
 
+#X obj 97 868 s /toOSC;
 
+#X msg 97 849 /\$1 \$3 \$2;
 
+#X obj 97 585 r /stepper/\$1/move/go;
 
+#X obj 1025 322 loadbang;
 
 #X obj 298 175 bng 25 250 50 0 /stepper/\$1/stop /stepper/\$1/stop
 
 #X obj 298 175 bng 25 250 50 0 /stepper/\$1/stop /stepper/\$1/stop
 
 STOP 1 14 0 10 -258113 -1 -1;
 
 STOP 1 14 0 10 -258113 -1 -1;
 
-#X obj 892 75 f \$1;
 
-#X msg 892 96 /stop \$1;
 
-#X msg 429 613 acceleration \$4 \$1 \, maxSpeed \$3 \$1 \, move \$2
 
+#X obj 1197 54 f \$1;
 
+#X msg 1197 75 /stop \$1;
 
+#X msg 97 771 acceleration \$4 \$1 \, maxSpeed \$3 \$1 \, move \$2
 
 \$1 \, getStatus \$1 \$1;
 
 \$1 \, getStatus \$1 \$1;
 
 #X obj 1482 551 t b b;
 
 #X obj 1482 551 t b b;
 
 #X obj 1487 785 s /stepper/\$1/sequences/list;
 
 #X obj 1487 785 s /stepper/\$1/sequences/list;
 
-#X obj 1676 837 r /stepper/\$1/sequences/list;
 
-#X obj 72 703 stepperCue \$1 0;
 
 #X msg 1510 579 clear \, align 0 \, add none \, set 0;
 
 #X msg 1510 579 clear \, align 0 \, add none \, set 0;
 
-#X obj 72 803 stepperCue \$1 1;
 
 #X obj 83 127 s /stepper/\$1/pos/current;
 
 #X obj 83 127 s /stepper/\$1/pos/current;
 
 #X obj 895 459 r /stepper/\$1/pos/current;
 
 #X obj 895 459 r /stepper/\$1/pos/current;
 
 #X obj 895 478 * 360;
 
 #X obj 895 478 * 360;
 
 #X floatatom 822 490 5 0 0 0 - - -, f 5;
 
 #X floatatom 822 490 5 0 0 0 - - -, f 5;
 
 #X obj 339 227 nbx 4 14 -1e+37 1e+37 0 0 /stepper/\$1/move/startPos
 
 #X obj 339 227 nbx 4 14 -1e+37 1e+37 0 0 /stepper/\$1/move/startPos
 
-/stepper/\$1/move/startPos startPos 0 -8 0 10 -262144 -1 -1 0 256;
 
-#X obj 277 233 bng 15 250 50 0 /stepper/\$1/move/gotoStart /stepper/\$1/move/gotoStart
 
+/stepper/\$1/move/startPos startPos 0 -8 0 10 -262144 -1 -1 20 256
 
+;
 
+#X obj 277 232 bng 15 250 50 0 /stepper/\$1/move/gotoStart /stepper/\$1/move/gotoStart
 
 goto 17 7 0 10 -262144 -1 -1;
 
 goto 17 7 0 10 -262144 -1 -1;
 
 #X obj 230 232 bng 15 250 50 0 /stepper/\$1/move/setStart /stepper/\$1/move/setStart
 
 #X obj 230 232 bng 15 250 50 0 /stepper/\$1/move/setStart /stepper/\$1/move/setStart
 
 set 17 7 0 10 -262144 -1 -1;
 
 set 17 7 0 10 -262144 -1 -1;
 
 #X obj 870 578 f;
 
 #X obj 870 578 f;
 
 #X obj 870 440 r /stepper/\$1/move/setStart;
 
 #X obj 870 440 r /stepper/\$1/move/setStart;
 
-#X obj 865 682 r /stepper/\$1/move/gotoStart;
 
+#X obj 865 662 r /stepper/\$1/move/gotoStart;
 
 #X obj 870 597 s /stepper/\$1/move/startPos;
 
 #X obj 870 597 s /stepper/\$1/move/startPos;
 
 #X obj 1169 461 r /stepper/\$1/move/startPos;
 
 #X obj 1169 461 r /stepper/\$1/move/startPos;
 
 #X obj 1145 502 -;
 
 #X obj 1145 502 -;
 
@@ -207,194 +198,360 @@ set 17 7 0 10 -262144 -1 -1;
 
 #X obj 1196 583 - 360;
 
 #X obj 1196 583 - 360;
 
 #X text 1303 595 go backward \, quickest path;
 
 #X text 1303 595 go backward \, quickest path;
 
 #X floatatom 1227 522 5 0 0 0 - - -, f 5;
 
 #X floatatom 1227 522 5 0 0 0 - - -, f 5;
 
-#X obj 865 761 list;
 
-#X obj 865 799 s /toOSC;
 
-#X msg 865 780 /\$1 \$3 \$2;
 
+#X obj 865 819 s /toOSC;
 
+#X msg 865 800 /\$1 \$3 \$2;
 
 #X obj 865 701 f \$1;
 
 #X obj 865 701 f \$1;
 
 #X obj 1145 670 / 360;
 
 #X obj 1145 670 / 360;
 
-#X obj 865 722 pack 0 0 8000 0;
 
-#X msg 865 742 driveMode 1 \$1 \, move \$2 \$1 \, setSpeed \$3 \$1
 
-\, getStatus \$1 \$1;
 
 #X obj 895 578 s /stepper/\$1/pos/current/deg;
 
 #X obj 895 578 s /stepper/\$1/pos/current/deg;
 
 #X obj 1145 440 r /stepper/\$1/pos/current/deg;
 
 #X obj 1145 440 r /stepper/\$1/pos/current/deg;
 
 #X obj 1145 543 abs;
 
 #X obj 1145 543 abs;
 
-#X obj 183 196 nbx 3 14 -1e+37 1e+37 0 0 /stepper/\$1/pos/current/deg
 
-/stepper/\$1/pos/current/deg empty 0 -8 0 10 -262144 -1 -1 0 256;
 
+#X obj 148 241 nbx 3 14 -1e+37 1e+37 0 0 /stepper/\$1/pos/current/deg
 
+/stepper/\$1/pos/current/deg degrees -50 8 0 10 -262144 -1 -1 10.0061
 
+256;
 
 #X obj 1145 522 t f f;
 
 #X obj 1145 522 t f f;
 
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 #X obj 1172 607 moses 0;
 
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 #X msg 1172 628 360;
 
 #X msg 1202 628 -360;
 
 #X msg 1202 628 -360;
 
-#X obj 128 195 nbx 5 14 -1e+37 1e+37 0 0 /stepper/\$1/pos/current /stepper/\$1/pos/current
 
-current -45 7 0 10 -262144 -1 -1 0 256;
 
-#X obj 1242 208 steps2camrot;
 
-#X obj 475 508 steps2camrot;
 
-#X obj 452 470 steps2camrot;
 
-#X obj 509 528 steps2camrot;
 
+#X obj 148 225 nbx 5 14 -1e+37 1e+37 0 0 /stepper/\$1/pos/current /stepper/\$1/pos/current
 
+turns -45 7 0 10 -262144 -1 -1 0.0277946 256;
 
+#X obj 1624 191 steps2camrot;
 
+#X obj 143 666 steps2camrot;
 
+#X obj 120 628 steps2camrot;
 
+#X obj 177 686 steps2camrot;
 
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