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 release() {
#if MOTOR_SHIELD_VERSION == 1
m1.release();
m2.release();
#else
m1->release();
m2->release();
#endif
}
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);
}
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;
}
}
}
/**
* Supports movement with both styles of Motor Shield
* @input newx the destination x position
* @input newy the destination y position
**/
void onestep(int motor,int direction) {
if(motor==1) {
#ifdef VERBOSE
Serial.print('X');
#endif
#if MOTOR_SHIELD_VERSION == 1
m1.onestep(direction);
#else
m1->onestep(direction>0?FORWARD:BACKWARD,SINGLE);
#endif
} else {
#ifdef VERBOSE
Serial.print('Y');
#endif
#if MOTOR_SHIELD_VERSION == 1
m2.onestep(direction);
#else
m2->onestep(direction>0?FORWARD:BACKWARD,SINGLE);
#endif
}
}
//
// Constructor
//
Dome::Dome(void)
{
motor.setSpeed(100); // Set a default RPM of 10
//position = 0;
}
void stepper_backwardstep1() {
myStepper1.onestep(BACKWARD, MICROSTEP);
}
// you can change these to DOUBLE or INTERLEAVE or MICROSTEP!
void stepper_forwardstep1() {
myStepper1.onestep(FORWARD, MICROSTEP);
}
void stepper_reset_lp() {
myStepper1->onestep(BACKWARD, DOUBLE);
delayMicroseconds(300);
}
void backwardstep() {
stepper_motor.onestep(BACKWARD, DOUBLE);
}
void forwardstep() {
stepper_motor.onestep(FORWARD, DOUBLE);
}
void backwardstep() {
lat_motor.onestep( BACKWARD, INTERLEAVE );
}
void forwardstep() {
lat_motor.onestep( FORWARD, INTERLEAVE );
}