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 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);
}
//
// Constructor
//
Dome::Dome(void)
{
motor.setSpeed(100); // Set a default RPM of 10
//position = 0;
}