void Dome::step(long val)
{
int move = abs(val);
int moved = 0;
bool hithalf = false;
int accel = move / 2;
while(move--)
{
if(Serial.available() > 0)
break;
motor.setSpeed(constrain(moved, MINSPEED, MAXSPEED));
motor.step(1, (val > 0)?BACKWARD:FORWARD, DOUBLE);
(val > 0)?position++:position--;
if(!hithalf)
{
moved++;
if(moved >= accel)
hithalf = true;
}
else
{
moved--;
}
}
}
void loop() {
if (Serial.available() > 0) {
int inByte = Serial.read();
switch (inByte) {
case 'a':
motor.step(1, BACKWARD, INTERLEAVE);
Serial.println("Moved 1");
break;
case 'b':
motor.step(2, BACKWARD, INTERLEAVE);
Serial.println("Moved 2");
break;
}
}
}
void setup() {
Serial.begin(9600); // set up Serial library at 9600 bps
Serial.println("Stepper test!");
motor.setSpeed(10); // 10 rpm
motor.release();
delay(1000);
motor.step(100, BACKWARD, INTERLEAVE);
}