[Arduino] ＣＮＣコントローラーのテスト（ＡｃｃｅｌＳｔｅｐｐｅｒ編）

続けてＡｃｃｅｌＳｔｅｐｐｅｒで回してみるぜ。

画像は使いまわし。

ソースはこんな感じ。
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#include <AccelStepper.h>
#include <MultiStepper.h>

AccelStepper stepper1(AccelStepper::DRIVER, 2, 5);
AccelStepper stepper2(AccelStepper::DRIVER, 3, 6);
AccelStepper stepper3(AccelStepper::DRIVER, 4, 7);

MultiStepper steppers;

void setup() {

Serial.begin(9600);

// Configure each stepper (steps per second)
stepper1.setMaxSpeed(800);
stepper2.setMaxSpeed(800);
stepper3.setMaxSpeed(800);

// Then give them to MultiStepper to manage
steppers.addStepper(stepper1);
steppers.addStepper(stepper2);
steppers.addStepper(stepper3);
}

void loop() {

// Array of desired stepper positions
long positions[3];

positions[0] = 200;
positions[1] = 400;
positions[2] = 800;
steppers.moveTo(positions);
steppers.runSpeedToPosition(); // Blocks until all are in position
delay(1000);

// Move to a different coordinate
positions[0] = -200;
positions[1] = -400;
positions[2] = -800;
steppers.moveTo(positions);
steppers.runSpeedToPosition(); // Blocks until all are in position
delay(1000);
}

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こっちも特に問題なし。

ほんでもって動画。