void changeLength(float tA, float tB)
{
float currSpeedA = speed(&motorA);
float currSpeedB = speed(&motorB);
setSpeed(&motorA,0.0);
setSpeed(&motorB,0.0);
moveTo(&motorA,tA);
moveTo(&motorB,tB);
if (!usingAcceleration)
{
// The moveTo() function changes the speed in order to do a proper
// acceleration. This counteracts it. Ha.
if (speed(&motorA) < 0)
currSpeedA = -currSpeedA;
if (speed(&motorB) < 0)
currSpeedB = -currSpeedB;
setSpeed(&motorA,currSpeedA);
setSpeed(&motorB,currSpeedB);
}
while (distanceToGo(&motorA) != 0 || distanceToGo(&motorB) != 0)
{
//impl_runBackgroundProcesses();
if (usingAcceleration)
{
run(&motorA);
run(&motorB);
}
else
{
//Serial.print("Run speed..");
//Serial.println(motorA.speed());
runSpeedToPosition(&motorA);
runSpeedToPosition(&motorB);
}
}
}
/**
* \par Function
* update
* \par Description
* The Stepper loop function, used to move the stepper.
* \param[in]
* None
* \par Output
* None
* \par Return
* None
* \par Others
* None
*/
void MeStepperOnBoard::update(void)
{
if(_mode == 0)
{
runSpeed();
}
else
{
long dist = distanceToGo();
if(dist==0)
{
if(_moving)
{
_moving = false;
_callback(_slot, _extId);
}
}
runSpeedToPosition();
}
}
