added getSpeed method

best way to know if the motor is not moving, even if on limits

Atm_AccelStepper.cpp

@@ -320,6 +320,15 @@ long int Atm_AccelStepper::distanceToGo(){
   return stepper->distanceToGo();;
 }
 
+
+bool Atm_AccelStepper::isRunning(){
+  return stepper->isRunning();
+}
+
+float Atm_AccelStepper::getSpeed(){
+  return stepper->speed();
+}
+
 Atm_AccelStepper& Atm_AccelStepper::position_refresh(long int refresh_ms){
   POSITION_SEND_TIMER = refresh_ms ;
   return *this ;

Atm_AccelStepper.h

@@ -51,6 +51,8 @@ class Atm_AccelStepper: public Machine {
   Atm_AccelStepper& setPosition( long int position);
   long int getPosition();
   long int distanceToGo();
+  bool isRunning();
+  float getSpeed();
 
   Atm_AccelStepper& move(long int stepRel );
   Atm_AccelStepper& moveTo(long int stepAbs );
@@ -120,80 +122,80 @@ class Atm_AccelStepper: public Machine {
 
 };
 
-/*
-Automaton::ATML::begin - Automaton Markup Language
-
-<?xml version="1.0" encoding="UTF-8"?>
-<machines>
-  <machine name="Atm_AccelStepper">
-    <states>
-      <DISABLED index="0" on_enter="ENT_DISABLED">
-        <EVT_ENABLE>ENABLED</EVT_ENABLE>
-      </DISABLED>
-      <ENABLED index="1" on_enter="ENT_ENABLED">
-        <EVT_DISABLE>DISABLED</EVT_DISABLE>
-        <EVT_ENABLED_TIMEOUT>DISABLED</EVT_ENABLED_TIMEOUT>
-        <EVT_STOP>STOP</EVT_STOP>
-        <EVT_EMERGENCY_STOP>STOP</EVT_EMERGENCY_STOP>
-      </ENABLED>
-      <RUNNING index="2" on_loop="LP_RUNNING">
-        <EVT_DISABLE>DISABLED</EVT_DISABLE>
-        <EVT_STOP>STOP</EVT_STOP>
-        <EVT_EMERGENCY_STOP>STOP</EVT_EMERGENCY_STOP>
-        <EVT_ON_LIMIT_LOW>LIMIT_LOW</EVT_ON_LIMIT_LOW>
-        <EVT_ON_LIMIT_HIGH>LIMIT_HIGH</EVT_ON_LIMIT_HIGH>
-        <EVT_ON_TARGET>ENABLED</EVT_ON_TARGET>
-      </RUNNING>
-      <STOP index="3">
-        <EVT_DISABLE>DISABLED</EVT_DISABLE>
-        <EVT_STOP>STOP</EVT_STOP>
-        <EVT_EMERGENCY_STOP>STOP</EVT_EMERGENCY_STOP>
-      </STOP>
-      <HOMING_LOW index="4" on_enter="ENT_HOMING_LOW" on_exit="EXT_HOMING_LOW">
-        <EVT_DISABLE>DISABLED</EVT_DISABLE>
-        <EVT_STOP>STOP</EVT_STOP>
-        <EVT_EMERGENCY_STOP>STOP</EVT_EMERGENCY_STOP>
-        <EVT_ON_LIMIT_LOW>ENABLED</EVT_ON_LIMIT_LOW>
-      </HOMING_LOW>
-      <HOMING_HIGH index="5" on_enter="ENT_HOMING_HIGH" on_exit="EXT_HOMING_HIGH">
-        <EVT_DISABLE>DISABLED</EVT_DISABLE>
-        <EVT_STOP>STOP</EVT_STOP>
-        <EVT_EMERGENCY_STOP>STOP</EVT_EMERGENCY_STOP>
-        <EVT_ON_LIMIT_HIGH>ENABLED</EVT_ON_LIMIT_HIGH>
-      </HOMING_HIGH>
-      <LIMIT_LOW index="6" on_enter="ENT_LIMIT_LOW">
-        <EVT_STOP>STOP</EVT_STOP>
-        <EVT_EMERGENCY_STOP>STOP</EVT_EMERGENCY_STOP>
-        <EVT_ON_LIMIT_LOW>LIMIT_LOW</EVT_ON_LIMIT_LOW>
-      </LIMIT_LOW>
-      <LIMIT_HIGH index="7" on_enter="ENT_LIMIT_HIGH">
-        <EVT_STOP>STOP</EVT_STOP>
-        <EVT_EMERGENCY_STOP>STOP</EVT_EMERGENCY_STOP>
-        <EVT_ON_LIMIT_HIGH>LIMIT_HIGH</EVT_ON_LIMIT_HIGH>
-      </LIMIT_HIGH>
-    </states>
-    <events>
-      <EVT_DISABLE index="0" access="MIXED"/>
-      <EVT_ENABLE index="1" access="MIXED"/>
-      <EVT_ENABLED_TIMEOUT index="2" access="PRIVATE"/>
-      <EVT_STOP index="3" access="MIXED"/>
-      <EVT_EMERGENCY_STOP index="4" access="MIXED"/>
-      <EVT_ON_LIMIT_LOW index="5" access="MIXED"/>
-      <EVT_ON_LIMIT_HIGH index="6" access="MIXED"/>
-      <EVT_ON_TARGET index="7" access="MIXED"/>
-    </events>
-    <connectors>
-      <CHANGEPOSITION autostore="0" broadcast="0" dir="PUSH" slots="1"/>
-      <CHANGESTATE autostore="0" broadcast="0" dir="PUSH" slots="1"/>
-      <ONLIMITHIGH autostore="0" broadcast="0" dir="PUSH" slots="1"/>
-      <ONLIMITLOW autostore="0" broadcast="0" dir="PUSH" slots="1"/>
-      <ONTARGET autostore="0" broadcast="0" dir="PUSH" slots="1"/>
-      <STOP autostore="0" broadcast="0" dir="PUSH" slots="1"/>
-    </connectors>
-    <methods>
-    </methods>
-  </machine>
-</machines>
-
-Automaton::ATML::end
-*/
+/*
+Automaton::ATML::begin - Automaton Markup Language
+
+<?xml version="1.0" encoding="UTF-8"?>
+<machines>
+  <machine name="Atm_AccelStepper">
+    <states>
+      <DISABLED index="0" on_enter="ENT_DISABLED">
+        <EVT_ENABLE>ENABLED</EVT_ENABLE>
+      </DISABLED>
+      <ENABLED index="1" on_enter="ENT_ENABLED">
+        <EVT_DISABLE>DISABLED</EVT_DISABLE>
+        <EVT_ENABLED_TIMEOUT>DISABLED</EVT_ENABLED_TIMEOUT>
+        <EVT_STOP>STOP</EVT_STOP>
+        <EVT_EMERGENCY_STOP>STOP</EVT_EMERGENCY_STOP>
+      </ENABLED>
+      <RUNNING index="2" on_loop="LP_RUNNING">
+        <EVT_DISABLE>DISABLED</EVT_DISABLE>
+        <EVT_STOP>STOP</EVT_STOP>
+        <EVT_EMERGENCY_STOP>STOP</EVT_EMERGENCY_STOP>
+        <EVT_ON_LIMIT_LOW>LIMIT_LOW</EVT_ON_LIMIT_LOW>
+        <EVT_ON_LIMIT_HIGH>LIMIT_HIGH</EVT_ON_LIMIT_HIGH>
+        <EVT_ON_TARGET>ENABLED</EVT_ON_TARGET>
+      </RUNNING>
+      <STOP index="3">
+        <EVT_DISABLE>DISABLED</EVT_DISABLE>
+        <EVT_STOP>STOP</EVT_STOP>
+        <EVT_EMERGENCY_STOP>STOP</EVT_EMERGENCY_STOP>
+      </STOP>
+      <HOMING_LOW index="4" on_enter="ENT_HOMING_LOW" on_exit="EXT_HOMING_LOW">
+        <EVT_DISABLE>DISABLED</EVT_DISABLE>
+        <EVT_STOP>STOP</EVT_STOP>
+        <EVT_EMERGENCY_STOP>STOP</EVT_EMERGENCY_STOP>
+        <EVT_ON_LIMIT_LOW>ENABLED</EVT_ON_LIMIT_LOW>
+      </HOMING_LOW>
+      <HOMING_HIGH index="5" on_enter="ENT_HOMING_HIGH" on_exit="EXT_HOMING_HIGH">
+        <EVT_DISABLE>DISABLED</EVT_DISABLE>
+        <EVT_STOP>STOP</EVT_STOP>
+        <EVT_EMERGENCY_STOP>STOP</EVT_EMERGENCY_STOP>
+        <EVT_ON_LIMIT_HIGH>ENABLED</EVT_ON_LIMIT_HIGH>
+      </HOMING_HIGH>
+      <LIMIT_LOW index="6" on_enter="ENT_LIMIT_LOW">
+        <EVT_STOP>STOP</EVT_STOP>
+        <EVT_EMERGENCY_STOP>STOP</EVT_EMERGENCY_STOP>
+        <EVT_ON_LIMIT_LOW>LIMIT_LOW</EVT_ON_LIMIT_LOW>
+      </LIMIT_LOW>
+      <LIMIT_HIGH index="7" on_enter="ENT_LIMIT_HIGH">
+        <EVT_STOP>STOP</EVT_STOP>
+        <EVT_EMERGENCY_STOP>STOP</EVT_EMERGENCY_STOP>
+        <EVT_ON_LIMIT_HIGH>LIMIT_HIGH</EVT_ON_LIMIT_HIGH>
+      </LIMIT_HIGH>
+    </states>
+    <events>
+      <EVT_DISABLE index="0" access="MIXED"/>
+      <EVT_ENABLE index="1" access="MIXED"/>
+      <EVT_ENABLED_TIMEOUT index="2" access="PRIVATE"/>
+      <EVT_STOP index="3" access="MIXED"/>
+      <EVT_EMERGENCY_STOP index="4" access="MIXED"/>
+      <EVT_ON_LIMIT_LOW index="5" access="MIXED"/>
+      <EVT_ON_LIMIT_HIGH index="6" access="MIXED"/>
+      <EVT_ON_TARGET index="7" access="MIXED"/>
+    </events>
+    <connectors>
+      <CHANGEPOSITION autostore="0" broadcast="0" dir="PUSH" slots="1"/>
+      <CHANGESTATE autostore="0" broadcast="0" dir="PUSH" slots="1"/>
+      <ONLIMITHIGH autostore="0" broadcast="0" dir="PUSH" slots="1"/>
+      <ONLIMITLOW autostore="0" broadcast="0" dir="PUSH" slots="1"/>
+      <ONTARGET autostore="0" broadcast="0" dir="PUSH" slots="1"/>
+      <STOP autostore="0" broadcast="0" dir="PUSH" slots="1"/>
+    </connectors>
+    <methods>
+    </methods>
+  </machine>
+</machines>
+
+Automaton::ATML::end
+*/