AccelStepper
MultiStepper.h
1 // MultiStepper.h
2 
3 #ifndef MultiStepper_h
4 #define MultiStepper_h
5 
6 #include <stdlib.h>
7 #if ARDUINO >= 100
8 #include <Arduino.h>
9 #else
10 #include <WProgram.h>
11 #include <wiring.h>
12 #endif
13 
14 #define MULTISTEPPER_MAX_STEPPERS 10
15 
16 class AccelStepper;
17 
18 /////////////////////////////////////////////////////////////////////
19 /// \class MultiStepper MultiStepper.h <MultiStepper.h>
20 /// \brief Operate multiple AccelSteppers in a co-ordinated fashion
21 ///
22 /// This class can manage multiple AccelSteppers (up to MULTISTEPPER_MAX_STEPPERS = 10),
23 /// and cause them all to move
24 /// to selected positions at such a (constant) speed that they all arrive at their
25 /// target position at the same time. This can be used to support devices with multiple steppers
26 /// on say multiple axes to cause linear diagonal motion. Suitable for use with X-Y plotters, flatbeds,
27 /// 3D printers etc
28 /// to get linear straight line movement between arbitrary 2d (or 3d or ...) positions.
29 ///
30 /// Caution: only constant speed stepper motion is supported: acceleration and deceleration is not supported
31 /// All the steppers managed by MultiStepper will step at a constant speed to their
32 /// target (albeit perhaps different speeds for each stepper).
34 {
35 public:
36  /// Constructor
37  MultiStepper();
38 
39  /// Add a stepper to the set of managed steppers
40  /// There is an upper limit of MULTISTEPPER_MAX_STEPPERS = 10 to the number of steppers that can be managed
41  /// \param[in] stepper Reference to a stepper to add to the managed list
42  /// \return true if successful. false if the number of managed steppers would exceed MULTISTEPPER_MAX_STEPPERS
43  boolean addStepper(AccelStepper& stepper);
44 
45  /// Set the target positions of all managed steppers
46  /// according to a coordinate array.
47  /// New speeds will be computed for each stepper so they will all arrive at their
48  /// respective targets at very close to the same time.
49  /// \param[in] absolute An array of desired absolute stepper positions. absolute[0] will be used to set
50  /// the absolute position of the first stepper added by addStepper() etc. The array must be at least as long as
51  /// the number of steppers that have been added by addStepper, else results are undefined.
52  void moveTo(long absolute[]);
53 
54  /// Calls runSpeed() on all the managed steppers
55  /// that have not acheived their target position.
56  /// \return true if any stepper is still in the process of running to its target position.
57  boolean run();
58 
59  /// Runs all managed steppers until they acheived their target position.
60  /// Blocks until all that position is acheived. If you dont
61  /// want blocking consider using run() instead.
62  void runSpeedToPosition();
63 
64 private:
65  /// Array of pointers to the steppers we are controlling.
66  /// Fills from 0 onwards
67  AccelStepper* _steppers[MULTISTEPPER_MAX_STEPPERS];
68 
69  /// Number of steppers we are controlling and the number
70  /// of steppers in _steppers[]
71  uint8_t _num_steppers;
72 };
73 
74 /// @example MultiStepper.pde
75 /// Use MultiStepper class to manage multiple steppers and make them all move to
76 /// the same position at the same time for linear 2d (or 3d) motion.
77 
78 #endif
boolean run()
Definition: MultiStepper.cpp:52
Support for stepper motors with acceleration etc.
Definition: AccelStepper.h:307
MultiStepper()
Constructor.
Definition: MultiStepper.cpp:9
void runSpeedToPosition()
Definition: MultiStepper.cpp:68
void moveTo(long absolute[])
Definition: MultiStepper.cpp:22
boolean addStepper(AccelStepper &stepper)
Definition: MultiStepper.cpp:14
Operate multiple AccelSteppers in a co-ordinated fashion.
Definition: MultiStepper.h:33