75 lines
2.1 KiB
Arduino
75 lines
2.1 KiB
Arduino
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#include <AccelStepper.h>
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#include <Adafruit_MotorShield.h>
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volatile boolean DEBUG = true;
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Adafruit_MotorShield AFMStop(0x60);
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// Create the motor shield object with the default I2C address
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Adafruit_MotorShield AFMS = Adafruit_MotorShield();
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//Set up for a 200step motor (NEMA 17)
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Adafruit_StepperMotor *myMotor = AFMS.getStepper(200, 1);
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void forwardstep() {
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myMotor->onestep(FORWARD, DOUBLE);
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}
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void backwardstep() {
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myMotor->onestep(BACKWARD, DOUBLE);
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}
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//Set up AccelStepper
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AccelStepper stepper(forwardstep, backwardstep);
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void setupMotor () {
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TWBR = ((F_CPU /400000l) - 16) / 2; // Change the i2c clock to 400KHz
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if (!AFMS.begin()) { // default frequency 1.6KHz
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Serial.println("Could not find Motor Shield. Check wiring.");
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while (1);
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}
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Serial.println("Motor Shield found.");
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//myMotor->setSpeed(600);
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//stepper.setMaxSpeed(600.0);
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//stepper.setSpeed(600.0);
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//stepper.setAcceleration(500.0);
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}
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void setup() {
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Serial.begin(57600);
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setupMotor();
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//stepper.setMaxSpeed(600.0);
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//stepper.move(600);
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}
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void loop() {
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// put your main code here, to run repeatedly:
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//Serial.println("Microstep steps");
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//myMotor->step(200, FORWARD, MICROSTEP);
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//myMotor->step(round(200 / 8), FORWARD, SINGLE); //109ms @ speed 600
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//myMotor->step(round(200 / 8), FORWARD, SINGLE); //172ms @ speed 100
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//myMotor->step(round(200 / 8), FORWARD, MICROSTEP); //1557ms @ speed 600
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//myMotor->step(round(200 / 8), FORWARD, MICROSTEP); //1621ms @ speed 100
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//myMotor->step(200, FORWARD, SINGLE); //873ms @ speed 600
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//myMotor->step(200, FORWARD, SINGLE); //1377ms @ speed 100
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//myMotor->step(200, FORWARD, MICROSTEP); //12466ms @ speed 600
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//myMotor->step(200, FORWARD, MICROSTEP); //12967ms @ speed 100
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//if (stepper.distanceToGo() != 0) {
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long startTime = millis();
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//stepper.runToNewPosition(0);
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//stepper.runToNewPosition(600);
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myMotor->step(600, FORWARD, DOUBLE);
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//myMotor->step(600, FORWARD, SINGLE);
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stepper.run();
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long stopTime = millis();
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Serial.print(stopTime - startTime);
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Serial.println("ms");
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delay(1000);
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//}
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}
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