Accelstepper delay

Other Hardware Motors, Mechanics, Power and CNC
1

Hello ,
I am starting to work on a project using the Accelstepper library. But I have a problem, when I put a delay in my loop to make the stepper motors wait, the whole stepper motor stops working.
But when I remove the delay, the motors are working fine again. I see on the Internet, delay, block the code with the library accelstepper.
I'm trying to find a solution but I can't find one.

What I want to do is :
Stepper1 move
Stepper2/3 wait
Stepper2 move
Stepper1/3 wait
Stepper 3 move

Here is my code :

#include <AccelStepper.h>
// Define some steppers and the pins the will use
#define X_STEP 2
#define X_DIR  5
#define Y_STEP 3
#define Y_DIR  6
#define Z_STEP 4
#define Z_DIR  7
#define ENABLE 8

AccelStepper stepper1(AccelStepper::DRIVER,X_STEP,X_DIR,true); //(X-Axys)(type,step,dir)
AccelStepper stepper2(AccelStepper::DRIVER,Y_STEP,Y_DIR,true); //(Y-Axys)(type,step,dir)
AccelStepper stepper3(AccelStepper::DRIVER,Z_STEP,Z_DIR,true); //(Z-Axys)(type,step,dir)

void setup()
{  
    pinMode(ENABLE,OUTPUT);
    digitalWrite(ENABLE,LOW);
    Serial.begin(9600);
    Serial.println("Iniciando");
    
    stepper1.setMaxSpeed(6000.0);
    stepper1.setAcceleration(9000.0);
    stepper1.moveTo(3000); //MAX 9500

    stepper2.setMaxSpeed(6000.0);
    stepper2.setAcceleration(6000.0);
    stepper2.moveTo(-3500);
    
    stepper3.setMaxSpeed(6000.0);
    stepper3.setAcceleration(6000.0);
    stepper3.moveTo(3000); //MAX 10000

}

void loop(){
        // Change direction at the limits
      if (stepper1.distanceToGo() == 0){
      stepper1.moveTo(-stepper1.currentPosition());
      Serial.println("vuelta"); 
    }
      if (stepper2.distanceToGo() == 0){
      stepper2.moveTo(-stepper2.currentPosition());
      Serial.println("vuelta"); 
    }
      if (stepper3.distanceToGo() == 0){
      stepper3.moveTo(-stepper3.currentPosition());
      Serial.println("vuelta"); 

    stepper1.run();
    stepper2.run();
    stepper3.run();
 }

Can someone help me please ?
Thank you,
William33

2

Have a look at how millis() is used to manage timing without blocking in Several Things at a Time.

And see Using millis() for timing. A beginners guide if you need more explanation.

...R