A stepper library error?

Projects Programming
1

I have problem in uploading the below sketch.the Arduino ide always give error'CNC_controller.ino: In function 'void setup()':
uCNC_controller:94: error: 'initMotors' was not declared in this scope
uCNC_controller.ino: In function 'void loop()':
uCNC_controller:123: error: 'process_command' was not declared in this scope
uCNC_controller:130: error: 'powerdown' was not declared in this scope"

I have been told to replace the stepper library with a newer one.i have tried several versions of Arduno.ranging from old IDE to recently release ones.the error is the same.and I found the stepper library is built-in of each arduino IDE.I can't find a advanced stepper library.now i guess the problem is the coding.maybe it contains bugs.but i am not sure.so i post here hoping someone guide me walk over it.

#include <Servo.h>
#include <Stepper.h>

/* Version of this progam */
float uCNC_Version = 1.0;

/* Development functions - broken code*/
//#define BUILTIN 1
//#define BROKEN 1

/* Conversion factor of steps per millimeter */
float stepsPerMillimeter_X = 200 / 17.1;
float stepsPerMillimeter_Y = -200 / 17.1;
float stepsPerMillimeter_Z = 200 / 17.1;

/* Unit conversion factor */
float conversionFactor = 1;  // 1 for mm 25.4 for inches

/* Stepper library initialization */
const int stepsPerRevolution = 200;  // change this to fit the number of steps per revolution
Stepper myStepper1(stepsPerRevolution, 8,9,10,11);
Stepper myStepper2(stepsPerRevolution, 4,5,6,7);            
Stepper myStepper3(stepsPerRevolution, 17,16,19,18);

/* Servo functions and limits */
Servo myServo;

int servoPosMax=83;
int servoPosMin=70;
int servoToolInc=10;
float servoPosZfactor=1.0;

/* Mode selector for the motors (see documentation) */
int   motorMode = 0;

/* X,Y,Z in absolute steps position */
int X = 0;
int Y = 0;
int Z = 0;

/* X,Y,Z in measurement value*/
float posX = 0.0;
float posY = 0.0;
float posZ = 0.0;

/* Tools and Feeds and Coolants */
int tool     = 0;
int spindle  = 0;
int coolant1 = 0;
int coolant2 = 0;

/* Spindle speed (M3 parameter)*/
int spindleSpeed = 0;

int led = 13;

#define COMMAND_SIZE 128
uint8_t command_line[COMMAND_SIZE];
uint8_t sin_count=0;
uint16_t no_data = 0;
uint8_t asleep = 0;


void setup() {
  Serial.begin(9600);
  
  // LED (Laser output)
  pinMode(led, OUTPUT);
  // General pupose (coolant 1) output
  pinMode(2, OUTPUT);
  // General pupose (coolant 2) output
  pinMode(3, OUTPUT);
  
  /* Init the steppers and servo */
  initMotors();
}

void clear_command_string() {
  for (int i=0; i<COMMAND_SIZE; i++) 
    command_line[i] = 0;
  sin_count = 0;
}

void loop() {
  uint8_t c;
  
  Serial.println("ready");

  while (true) {
    //read in characters if we got them.
    if (Serial.available() > 0)   {
      c = (uint8_t)Serial.read();
      no_data = 0;
      asleep = 0;
      command_line[sin_count++] = c;
    }
    else {
      no_data++;
      delayMicroseconds(150);
    }
  
    if (sin_count && (c == '\n' || no_data > 100)) {
      command_line[sin_count] = 0;
      process_command(command_line);
      //sin_count=0; 
      clear_command_string(); 
    }
  
    if (no_data == 60000)  {
      if (!asleep) {
        powerdown();
        asleep=1;
      }
    }
  }
}
2

uCNC_controller:94: error: 'initMotors' was not declared in this scope

  initMotors();

So, where have you defined this function? It is NOT part of the Stepper class. If it was, you'd need to call it for an instance of the Stepper class.

  while (true) {

NO! There is no excuse for putting an infinite loop in an infinite loop().

uCNC_controller:123: error: 'process_command' was not declared in this scope

      process_command(command_line);

So, where have you defined this function? It is NOT part of the Stepper class. If it was, you'd need to call it for an instance of the Stepper class.