Stepper Code Example 1

Sample Code of AccelStepper

AccelStepper is an arduino library. This sample code is used for demonstration of multiple code designed tips and tricks. Additions are welcomed.

#include <AccelStepper.h>

/*
 * newBounce based on AccelStepper library Bounce Example
 * library reference https://www.airspayce.com/mikem/arduino/AccelStepper/classAccelStepper.html
 * 
 * Chas Ihler
 * iradan.com
 */
 
AccelStepper stepper1(AccelStepper::DRIVER, 8, 9);
AccelStepper stepper2(AccelStepper::DRIVER, 3, 4);

#define STEPPER_SPEED 1000
#define STEPPER_ACCEL 2000

bool b_task_logging = true;

const long l_wait_interval = 500; 

//tests
const bool b_test_move = true; 
const bool b_test1_moveTo = false;
const bool b_test2_moveTo = false;  
const bool b_test_runToPosition = false;
const bool b_test_runSpeedToPosition = false;
const bool b_test_setSpeed = false;

bool b_run_once = false;
int i_stop_count= 0;
unsigned long ul_previousTaskmillis = 0;
unsigned long ul_previousNBWmillis = 0;

void setup()
{  
  delay(250);
  Serial.begin(115200);
  delay(100);
  Serial.println("   ");
  Serial.println("  ------------------------------ ");
  Serial.println("       AccelStepper Library      ");
  Serial.println("               Demo              ");  
  Serial.println("  ------------------------------ ");
  Serial.println("   ");

  pinMode(3, OUTPUT);   // Stepper 2 Pulse
  pinMode(4, OUTPUT);   // Stepper 2 Direction
  pinMode(5, OUTPUT);   // Stepper 2 Enable
  
  pinMode(8, OUTPUT);   // Stepper 1 Pulse
  pinMode(9, OUTPUT);   // Stepper 1 Direction
  pinMode(10, OUTPUT);  // Stepper 1 Enable
  
  stepper1.setMaxSpeed(STEPPER_SPEED);
  stepper2.setMaxSpeed(STEPPER_SPEED);
  stepper1.setAcceleration(STEPPER_ACCEL);
  stepper2.setAcceleration(STEPPER_ACCEL);
  stepper1.setEnablePin(10);
  stepper2.setEnablePin(5);   
  stepper1.setPinsInverted(false, true, false);
  stepper2.setPinsInverted(false, false, false);
  stepper1.disableOutputs();
  stepper2.disableOutputs();
  
}

 bool non_blocking_wait(void) {
  unsigned long ul_currentMillis = millis();
  if (ul_currentMillis - ul_previousNBWmillis >= l_wait_interval) {
    ul_previousNBWmillis = ul_currentMillis;
    return true;
  }
  return false;
}

void loop() {
  unsigned long ul_taskONEmillis = 0;
  unsigned long ul_taskTWOmillis = 0;
  unsigned long ul_taskTHREEmillis = 0;
  ul_previousTaskmillis = millis();

  if (!b_run_once) {   //I don't like to "do" anything in setup.
    stepper1.enableOutputs();
    stepper2.enableOutputs();
    stepper1.setCurrentPosition(500);
    stepper2.setCurrentPosition(500);
    if (b_test1_moveTo) stepper1.moveTo(400);
    if (b_test1_moveTo) stepper2.moveTo(800);
    if (b_test_runSpeedToPosition) stepper1.move(2000);
    b_run_once = true;
  }

  if (b_test_move) { //relative
    stepper1.move(750);
  }

  if (b_test1_moveTo) { //absolute
    if (stepper1.distanceToGo() == 0) stepper1.moveTo(-stepper1.currentPosition());
  }
  
  if (b_test2_moveTo) { //absolute
    stepper1.moveTo(2000);
    stepper2.moveTo(2000);
  }
  
  if (b_test_runToPosition) {
    //Moves the motor (with acceleration/deceleration) to the target position and blocks until it is at position. Dont use this in event loops, since it blocks.
    stepper1.setCurrentPosition(-200);
    stepper1.runToNewPosition(1000); 
  }
  if (b_test_runSpeedToPosition) {
    //Runs at the currently selected speed until the target position is reached. Does not implement accelerations.
    stepper1.runSpeedToPosition(); 
  }

  if (b_test_setSpeed) {
    //Sets the desired constant speed for use with runSpeed().
    stepper1.setSpeed(200);
  }

  ul_taskONEmillis = millis();

  //task two goes here
  if (stepper1.distanceToGo() == 0) {
    if (i_stop_count > 20) {
      stepper1.disableOutputs();
    } else { 
      i_stop_count++;
    }
  } else {
    i_stop_count = 0;
  }
  delay(1); 
  ul_taskTWOmillis = millis();

  //task three goes here
  delay(1); 
  ul_taskTHREEmillis = millis();

  //Run Every time the loops runs, as often as practical
  if (b_test_setSpeed) {
    stepper1.runSpeed();
  } else {
    stepper1.run();
    stepper2.run();
  }
  
  if (stepper1.isRunning()) {
    b_task_logging = true;
  } else {
    // b_task_logging = false;
  }

  if (b_task_logging) {
    if (non_blocking_wait()) {
      Serial.println("------------ Stepper Details ------------------");
      Serial.print("Dist(steps) to Go: ");Serial.print(stepper1.distanceToGo());Serial.print("  Current Position: ");Serial.println(stepper1.currentPosition());
      Serial.println(" ");
      float f_totalmillis = 0;
      unsigned long ul_currentmillis = 0;
      int i_display_time = 0;
      float f_display_pct = 0;
      ul_currentmillis = millis();
      f_totalmillis = ul_currentmillis - ul_previousTaskmillis; 
      Serial.println("-------------- Task Monitor -------------------");
      Serial.print("TASK NAME      ");Serial.print("TIME");Serial.print("    ");Serial.println("xx%");
      Serial.println("-----------------------------------------------");
      i_display_time = f_totalmillis;
      f_display_pct = 100;
      Serial.print("TOTAL          ");Serial.print(i_display_time);Serial.print("    ");Serial.print(f_display_pct); Serial.println("%");
      i_display_time = ul_taskONEmillis - ul_previousTaskmillis;
      f_display_pct = (i_display_time / f_totalmillis) * 100;
      Serial.print("ONE            ");Serial.print(i_display_time);Serial.print("    ");Serial.print(f_display_pct); Serial.println("%");
      i_display_time = ul_taskTWOmillis - ul_taskONEmillis;
      f_display_pct = (i_display_time / f_totalmillis) * 100;
      Serial.print("TWO            ");Serial.print(i_display_time);Serial.print("    ");Serial.print(f_display_pct); Serial.println("%");
      i_display_time = ul_taskTHREEmillis - ul_taskTWOmillis;
      f_display_pct = (i_display_time / f_totalmillis) * 100;
      Serial.print("THREE          ");Serial.print(i_display_time);Serial.print("    ");Serial.print(f_display_pct); Serial.println("%");
      Serial.println(" ");
    }
  }
}