Operate multiple AccelSteppers in a co-ordinated fashion. More...
|boolean||addStepper (AccelStepper &stepper)|
|void||moveTo (long absolute)|
Operate multiple AccelSteppers in a co-ordinated fashion.
This class can manage multiple AccelSteppers (up to MULTISTEPPER_MAX_STEPPERS = 10), and cause them all to move to selected positions at such a (constant) speed that they all arrive at their target position at the same time. This can be used to support devices with multiple steppers on say multiple axes to cause linear diagonal motion. Suitable for use with X-Y plotters, flatbeds, 3D printers etc to get linear straight line movement between arbitrary 2d (or 3d or ...) positions.
Caution: only constant speed stepper motion is supported: acceleration and deceleration is not supported All the steppers managed by MultiStepper will step at a constant speed to their target (albeit perhaps different speeds for each stepper).
|boolean MultiStepper::addStepper||(||AccelStepper &||stepper||)|
Add a stepper to the set of managed steppers There is an upper limit of MULTISTEPPER_MAX_STEPPERS = 10 to the number of steppers that can be managed
|[in]||stepper||Reference to a stepper to add to the managed list|
Set the target positions of all managed steppers according to a coordinate array. New speeds will be computed for each stepper so they will all arrive at their respective targets at very close to the same time.
|[in]||absolute||An array of desired absolute stepper positions. absolute will be used to set the absolute position of the first stepper added by addStepper() etc. The array must be at least as long as the number of steppers that have been added by addStepper, else results are undefined.|