A new feature was added: Actions!
Now you can specify a sequence of movements and just add them to an array.
The actions also give you the possibility to have Callbacks that will get triggered when the movement the action is finished.
#include <StepperControl.h>
StepperControl control(StepperControl::DefaultStepCount, 8,9,10,11);
void Callback()
{
Serial.println("i am a callback");
}
void Callback2()
{
Serial.println("i, too am a callback");
}
void setup()
{
Serial.begin(9600);
control.SetDirection(StepperControl::Backward);
control.SetRotationSpeed(2);
control.SetStepType(StepperControl::FullStep);
StepperControl::StepperAction action;
action.Direction = StepperControl::Forward;
action.Type = StepperControl::WaveDrive;
action.Rpm = 1.5;
action.StartDelay = 1000;
action.Steps = 1400;
action.EndDelay = 500;
action.DidEndCallback = &Callback;
control.AddStepperAction(action);
StepperControl::StepperAction action2;
action2.Direction = StepperControl::Backward;
action2.Type = StepperControl::FullStep;
action2.Rpm = 2.5;
action2.StartDelay = 2000;
action2.Steps = 1800;
action2.EndDelay = 560;
action2.DidEndCallback = &Callback2;
control.AddStepperAction(action2);
}
void loop()
{
control.StartAction();
delay(1000);
}