Help! AccelStepper passing as a parameter

Projects Programming
1

Hi everyone,

I'm using AccelStepper.h to run 4 stepper motors and control them individually. I have created a function but I don't know what type of data is the "AccelStepper" so I can assign it as a variable?
I attached my code, and the data type is the only thing stopping me to continue forward.

Appreciate your helps guys

void runposition_stepper (int x, AccelStepper stepper1) {

  if (stepper1.currentPosition() < 0) {
    while ( stepper1.currentPosition() < 0 & stepper1.currentPosition() != 0) {
      stepper1.setSpeed(setspeed);
      stepper1.run();
      delay (2);
      Serial.println (stepper1.currentPosition());
      continue;
    }
    while (stepper1.currentPosition() != x) {
      stepper1.setSpeed(setspeed);
      stepper1.runSpeed();
      Serial.println (stepper1.currentPosition());
      continue;
    }





  } else  if (stepper1.currentPosition() > 0) {





    while ( stepper1.currentPosition() > 0 & stepper1.currentPosition() != 0) {
      stepper1.setSpeed(-setspeed);
      stepper1.run();
      delay (2);
      Serial.println (stepper1.currentPosition());
      continue;
    }
    while (stepper1.currentPosition() != x) {
      if (x < 0) {
        stepper1.setSpeed(-setspeed);
        stepper1.runSpeed();
        Serial.println (stepper1.currentPosition());
      } else if ( x > 0) {
        stepper1.setSpeed(setspeed);
        stepper1.runSpeed();
        Serial.println (stepper1.currentPosition());
      }
    }





  } else  if (stepper1.currentPosition() == 0) {



    while (stepper1.currentPosition() != x) {
      if (x < 0) {
        stepper1.setSpeed(-setspeed);
        stepper1.runSpeed();
        Serial.println (stepper1.currentPosition());
      } else if ( x > 0) {
        stepper1.setSpeed(setspeed);
        stepper1.runSpeed();
        Serial.println (stepper1.currentPosition());
      }
    }
  }
}
2

What error are you getting?

And please post the complete program.

...R

3

You can look in AccelStepper.h to see AccelStepper is a class.

So you should be passing a reference to it rather than copying the object:

void runposition_stepper1 (int x, AccelStepper & stepper1) {

Though since runposition_stepper1 seems to be specific to stepper1 there's no need to pass it.

4

Hi,
Sorry if I'm wasn't clear enough,

I'm trying to control each motor individually in the loop with the function, so I was thinking something like the following based on the user input:

void loop() {


  
  while (Serial.available()) {
    user_input = Serial.read();           //Read user input and trigger appropriate function
    if (user_input == '1')
    {
      runposition_stepper (-30, stepper1);

      printintro (stepper1.currentPosition(), stepper2.currentPosition(), stepper3.currentPosition(), stepper4.currentPosition());
    }
    else if (user_input == '2')
    {
      runposition_stepper (40, stepper2);

      printintro (stepper1.currentPosition(), stepper2.currentPosition(), stepper3.currentPosition(), stepper4.currentPosition());
    }
    else if (user_input == '3')
    {
      runposition_stepper (10, stepper3);

      printintro (stepper1.currentPosition(), stepper2.currentPosition(), stepper3.currentPosition(), stepper4.currentPosition());
    }
    else if (user_input == '4')
    {
      runposition_stepper (40, stepper4);

      printintro (stepper1.currentPosition(), stepper2.currentPosition(), stepper3.currentPosition(), stepper4.currentPosition());
    }
  }
}

Therefore I wanted a function in which I can assign each stepper individually. like this for example

void runposition_stepper (int x, "data type?" stepper ) {

but I'm still don't know what type of data I should assign it for? or how I can do that?

5

Robin2:
What error are you getting?

And please post the complete program.

...R

I'm getting " 'AccelStepper' has not been declared" I guess as @MarkT said "AccelStepper" is a class.

My question is how I can assign "stepper" as a variable in the function?

6

One solution would be to create a global array of AccelStepper instances and then you can refer to them by index, such as

for (byte n = 0; n < 4; n++) {
   myStepper[n].run();
}

...R