AccelStepper set multiple objects with setMaxSpeed

Using Arduino Project Guidance
1

Hello,
How would I set multiple drivers to a setMaxSpeed variable because right now, I have this:

w2.setMaxSpeed(3000);
w3.setMaxSpeed(3000);
w4.setMaxSpeed(3000);

but I want to optimize it so the sketch is smaller. I was thinking of something like this:

w2, w3, w4.setMaxSpeed(3000);

but im not sure if that will work or not.

Thanks

324hz
win21H2
he/him

2

Didn't the compiler already tell you?

3

Write a function that sets all 3 to the max speed as an argument to the function.

void setMaxSpeedAll(int speed)
{
   w2.setMaxSpeed(speed);
   w3.setMaxSpeed(speed);
   w4.setMaxSpeed(speed);
}

Won't make it smaller, but it makes it calling one function instead of 3.

4

hello,
so if the compiler does not give any errors that means it works?

Thanks

324hz
win21H2
he/him

5

It depends how you define "work" (in all such arguments, the language standard wins)

6

thanks I will try to implement that into my code. So if it is only 1 function, will it optimize the code? like will it make it run a bit faster?

Thanks

324hz
win21H2
he/him

7

No, of course not

8

Do you have warnings enabled (File, Preferences, Compiler warnings, All) Does the compiler issue any warnings?

Just because it compiles does not mean that it will work.

9

nope it does not have any errors or warnings and I have everything selected

10

If you want your code to run faster, we may be able to help with that if you post the code.

11

ok. here it is:

#include <SoftwareSerial.h>
#include <AccelStepper.h>

SoftwareSerial Bluetooth(A8, 38); 
AccelStepper LeftBackWheel(1, 42, 43);  
AccelStepper LeftFrontWheel(1, 40, 41); 
AccelStepper RightBackWheel(1, 44, 45); 
AccelStepper RightFrontWheel(1, 46, 47); 

int wheelSpeed = 1500;
int dataIn, m;
int lbw[50], lfw[50], rbw[50], rfw[50]; 
int index = 0;

void setup() {
  
  LeftFrontWheel.setMaxSpeed(3000);
  LeftBackWheel.setMaxSpeed(3000);
  RightFrontWheel.setMaxSpeed(3000);
  RightBackWheel.setMaxSpeed(3000);
  
  Serial.begin(38400);
  Bluetooth.begin(9600); 
}

void loop() {
  if (Bluetooth.available() > 0) {
    dataIn = Bluetooth.read();  
    if (dataIn == 0) {
      m = 0;
    }
    if (dataIn == 2) {
      m = 2;
    }
    if (dataIn == 7) {
      m = 7;
    }
    if (dataIn == 9) {
      m = 9;
    }
    if (dataIn == 10) {
      m = 10;
    }
    if (dataIn == 5) {
      m = 5;
    }
    if (dataIn == 4) {
      m = 4;
    }
    
    if (dataIn >= 16) {
      wheelSpeed = dataIn * 10;
      Serial.println(wheelSpeed);
    }
  }

  if (m == 2) {
    moveForward();
  }
  if (m == 7) {
    moveBackward();
  }
  if (m == 9) {
    rotateLeft();
  }
  if (m == 10) {
    rotateRight();
  }
  if (m == 0) {
    stopMoving();
  }
  if (m == 5) {
    moveSidewaysRight();
  }
  if (m == 4) {
    moveSidewaysLeft();
  }
 
  if (m == 12) {
    if (index == 0) {
      LeftBackWheel.setCurrentPosition(0);
      LeftFrontWheel.setCurrentPosition(0);
      RightBackWheel.setCurrentPosition(0);
      RightFrontWheel.setCurrentPosition(0);
    }
    lbw[index] = LeftBackWheel.currentPosition();  
    lfw[index] = LeftFrontWheel.currentPosition();
    rbw[index] = RightBackWheel.currentPosition();
    rfw[index] = RightFrontWheel.currentPosition();
    index++;                     
    m = 0;
  }
  if (m == 14) {
    runSteps();
    if (dataIn != 14) {
      stopMoving();
      memset(lbw, 0, sizeof(lbw));
      memset(lfw, 0, sizeof(lfw));
      memset(rbw, 0, sizeof(rbw));
      memset(rfw, 0, sizeof(rfw));
      index = 0;
    }
  }
  LeftFrontWheel.runSpeed();
  LeftBackWheel.runSpeed();
  RightFrontWheel.runSpeed();
  RightBackWheel.runSpeed();


void moveForward() {
  LeftFrontWheel.setSpeed(-wheelSpeed);
  LeftBackWheel.setSpeed(-wheelSpeed);
  RightFrontWheel.setSpeed(wheelSpeed);
  RightBackWheel.setSpeed(wheelSpeed);
}
void moveBackward() {
  LeftFrontWheel.setSpeed(wheelSpeed);
  LeftBackWheel.setSpeed(wheelSpeed);
  RightFrontWheel.setSpeed(-wheelSpeed);
  RightBackWheel.setSpeed(-wheelSpeed);
}
void moveSidewaysRight() {
  LeftFrontWheel.setSpeed(-wheelSpeed);
  LeftBackWheel.setSpeed(wheelSpeed);
  RightFrontWheel.setSpeed(-wheelSpeed);
  RightBackWheel.setSpeed(wheelSpeed);
}
void moveSidewaysLeft() {
  LeftFrontWheel.setSpeed(wheelSpeed);
  LeftBackWheel.setSpeed(-wheelSpeed);
  RightFrontWheel.setSpeed(wheelSpeed);
  RightBackWheel.setSpeed(-wheelSpeed);
}
void rotateLeft() {
  LeftFrontWheel.setSpeed(wheelSpeed);
  LeftBackWheel.setSpeed(wheelSpeed);
  RightFrontWheel.setSpeed(wheelSpeed);
  RightBackWheel.setSpeed(wheelSpeed);
}
void rotateRight() {
  LeftFrontWheel.setSpeed(-wheelSpeed);
  LeftBackWheel.setSpeed(-wheelSpeed);
  RightFrontWheel.setSpeed(-wheelSpeed);
  RightBackWheel.setSpeed(-wheelSpeed);
}
void stopMoving() {
  LeftFrontWheel.setSpeed(0);
  LeftBackWheel.setSpeed(0);
  RightFrontWheel.setSpeed(0);
  RightBackWheel.setSpeed(0);
}
12

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