So since accelstepper function run() has to be called continuously, I used while() loop instead of if() to make 2 stepper motors rotate at the same time. However, for a while() loop, the codes run longer than coded (I made 5 loops similar to the on below but with different time loop
oops that was a typo mistake. It works now thanks a lot! However, in the fourth loop, the motors rotate the opposite direction I coded them for 1 or 2 rev before rotating the way I want. Is it some silly mistakes again?
And I copied the draft instead of the real one. I will reupload it
#include <Wire.h>
#include <AccelStepper.h>
#include <Adafruit_MotorShield.h>
Adafruit_MotorShield AFMSbot(0x61); // Rightmost jumper closed
Adafruit_MotorShield AFMStop(0x60); // Default address, no jumpers
Adafruit_MotorShield AFMSpulley(0x62); // Rightmost jumper closed
Adafruit_StepperMotor myStepper1 = AFMStop.getStepper(200, 1);
Adafruit_StepperMotor myStepper2 = AFMStop.getStepper(200, 2);
Adafruit_StepperMotor myStepper3 = AFMSbot.getStepper(200, 1);
Adafruit_StepperMotor myStepper4 = AFMSbot.getStepper(200, 2);
// wrappers for the first motor!
void forwardstep1() {
myStepper1->onestep(FORWARD, DOUBLE);
}
void backwardstep1() {
myStepper1->onestep(BACKWARD, DOUBLE);
}
// wrappers for the second motor!
void forwardstep2() {
myStepper2->onestep(FORWARD, DOUBLE);
}
void backwardstep2() {
myStepper2->onestep(BACKWARD, DOUBLE);
}
// wrappers for the third motor!
void forwardstep3() {
myStepper3->onestep(FORWARD, DOUBLE);
}
void backwardstep3() {
myStepper3->onestep(BACKWARD, DOUBLE);
}
// wrappers for the fourth motor!
void forwardstep4() {
myStepper4->onestep(FORWARD, DOUBLE);
}
void backwardstep4() {
myStepper4->onestep(BACKWARD, DOUBLE);
}
// Now we'll wrap the 6 steppers in an AccelStepper object
AccelStepper stepper1(forwardstep1, backwardstep1);
AccelStepper stepper2(forwardstep2, backwardstep2);
AccelStepper stepper3(forwardstep3, backwardstep3);
AccelStepper stepper4(forwardstep4, backwardstep4);
void setup()
{
AFMSbot.begin(); // Start the bottom shield
AFMStop.begin(); // Start the top shield
// Set speed or acceleration for motors
// ----
stepper1.setMaxSpeed(100.0);
stepper1.setAcceleration(80.0);
//----
stepper2.setMaxSpeed(100.0);
stepper2.setAcceleration(80.0);
//----
stepper3.setMaxSpeed(100.0);
stepper3.setAcceleration(80.0);
//----
stepper4.setMaxSpeed(100.0);
stepper4.setAcceleration(80.0);
stepper1.setCurrentPosition(0);
stepper2.setCurrentPosition(0);
stepper3.setCurrentPosition(0);
stepper4.setCurrentPosition(0);
}
void loop()
{
// PERIOD 1:
while(millis()<=6000){
stepper1.moveTo(-753);
stepper4.moveTo(753);
stepper1.run();
stepper4.run();
myStepper2->release();
myStepper3->release();
}
// PERIOD 2:
while(millis()>7000 and millis()<=12000){
stepper2.moveTo(1653);
stepper3.moveTo(-1653);
stepper2.run();
stepper3.run();
myStepper1->release();
myStepper4->release();
}
// PERIOD 3: Moving sideways to bunker
while(millis()>13000 && millis()<=19000){
stepper1.moveTo(-1753);
stepper4.moveTo(1753);
stepper1.run();
stepper4.run();
myStepper2->release();
myStepper3->release();
}
// PERIOD 4:
while(millis()>20000 and millis()<=28000){
stepper2.moveTo(-1653);
stepper3.moveTo(1653);
stepper2.run();
stepper3.run();
myStepper1->release();
myStepper4->release();
}
}
If the stepper movements need ever happen only once when the Arduino is powered up or reset then why bother putting the code in loop() when it could just as well go in setup() ?
Do the movements only ever need to happen once or would it be more convenient to be able to trigger them with a button instead of turning the Arduino on/off or resetting it which seems rather clumsy at best.
So since accelstepper function run() has to be called continuously, I used while() loop instead of if() to make 2 stepper motors rotate at the same time. However, for a while() loop, the codes run longer than coded (I made 5 loops similar to the on below but with different time loop
while(millis()<12000 && millis >=20000 {
stepper1. moveTo(1000);
stepper2.moveTo(-1000);
stepper1.run();
stepper2.run();
}
That seems a very strange way to use the AccelStepper library. The intended way of using it is to put stepper.run() in loop() so it is called all the time. The motor will stop moving when the destination is reached.
Can you describe the project you are trying to create? I suspect there is a simpler way.
Hi Robin, I am trying to make the 2 stepper motors run at the same time so stepper.run() was the best option I could find. The project requires me to do the following in order
Run 2 steppers at the same time (stepper 1 & 2)
Run another 2 steppers at the same time (3&4)
Run DC motor using stepper shield v2
Run the first 2 steppers again
Run DC again
Currently I am stuck at the DC. It stops running the steppers in the while loop I made even tho the codes did get in the loop. It skipped to the next delay() since I used delay() for DC motor
If you want to run several motors at the same time and don't need acceleration then use runSpeed(). If you want to be able to stop calling that so as to stop the motor then create a little function for each motor and in the function check if the motor may run. Then all you have to do is change the variable elsewhere in your program when you want the motor to go or stop. Something like this
Thanks for the replies Robin! I made functions like you recommended. I ran into a new problem where after activating the DC motor, the functions made for steppers did not work despite working before using DC motor.
#include <Wire.h>
#include <AccelStepper.h>
#include <Adafruit_MotorShield.h>
#include "utility/Adafruit_MS_PWMServoDriver.h"
Adafruit_MotorShield AFMSbot(0x61); // Rightmost jumper closed
Adafruit_MotorShield AFMStop(0x60); // Default address, no jumpers
Adafruit_MotorShield AFMSpulley(0x62); // Rightmost jumper closed
// Connect two steppers with 200 steps per revolution (1.8 degree)
// to the top shield
Adafruit_StepperMotor *myStepper1 = AFMStop.getStepper(200, 1);
Adafruit_StepperMotor *myStepper2 = AFMStop.getStepper(200, 2);
// Connect one stepper with 200 steps per revolution (1.8 degree)
// to the bottom shield
Adafruit_StepperMotor *myStepper3 = AFMSbot.getStepper(200, 1);
Adafruit_StepperMotor *myStepper4 = AFMSbot.getStepper(200, 2);
// Connect one stepper with 200 steps per revolution (1.8 degree)
// to the bottom shield
Adafruit_DCMotor *myMotor = AFMSpulley.getMotor(4);
// you can change these to DOUBLE or INTERLEAVE or MICROSTEP!
// wrappers for the first motor!
void forwardstep1() {
myStepper1->onestep(FORWARD, DOUBLE);
}
void backwardstep1() {
myStepper1->onestep(BACKWARD, DOUBLE);
}
// wrappers for the second motor!
void forwardstep2() {
myStepper2->onestep(FORWARD, DOUBLE);
}
void backwardstep2() {
myStepper2->onestep(BACKWARD, DOUBLE);
}
// wrappers for the third motor!
void forwardstep3() {
myStepper3->onestep(FORWARD, DOUBLE);
}
void backwardstep3() {
myStepper3->onestep(BACKWARD, DOUBLE);
}
// wrappers for the forth motor!
void forwardstep4() {
myStepper4->onestep(FORWARD, DOUBLE);
}
void backwardstep4() {
myStepper4->onestep(BACKWARD, DOUBLE);
}
// Now we'll wrap the 6 steppers in an AccelStepper object
AccelStepper stepper1(forwardstep1, backwardstep1);
AccelStepper stepper2(forwardstep2, backwardstep2);
AccelStepper stepper3(forwardstep3, backwardstep3);
AccelStepper stepper4(forwardstep4, backwardstep4);
// Steps we want to go
int stepLeft = 100;
int stepRight_1 = 100;
int stepRight_2 = 100;
int stepForwards = 100;
int stepBackwards = 100;
// Time
unsigned long time_1 = 5000;
unsigned long time_2_start = time_1 + 1000; // 1s wait
unsigned long time_2_end = time_2_start + 7000; // 7s for 2nd action
unsigned long time_3_start = time_2_end + 1000; // 1s wait
unsigned long time_3_end = time_3_start + 11000; // 11s to lift
unsigned long time_4_start = time_3_end + 1000; // 1s wait
unsigned long time_4_end = time_4_start + 4000; // 4s for 3rd action
unsigned long time_5_start = time_4_end + 1000; // 1s wait
unsigned long time_5_end = time_5_start + 11000; // 11s for 4th action
void setup()
{
Serial.begin(9600);
// Basic set up
AFMSbot.begin(); // Start the bottom shield
AFMStop.begin(); // Start the top shield
AFMSpulley.begin(); // Start the mid shield
// Set speed or acceleration for motors
// ----
stepper1.setMaxSpeed(100.0);
stepper1.setAcceleration(80.0);
//----
stepper2.setMaxSpeed(100.0);
stepper2.setAcceleration(80.0);
//----
stepper3.setMaxSpeed(100.0);
stepper3.setAcceleration(80.0);
//----
stepper4.setMaxSpeed(100.0);
stepper4.setAcceleration(80.0);
stepper1.setCurrentPosition(0);
stepper2.setCurrentPosition(0);
stepper3.setCurrentPosition(0);
stepper4.setCurrentPosition(0);
}
void loop()
{
// PERIOD 1:
while (millis() <= time_1) {
while (millis() > (time_2_start) and millis() <= time_2_end) {
moveForwards(stepForwards);
}
while (millis() > (time_3_start) and millis() <= (time_3_end)) {
// Initialize variable i
uint8_t i;
myMotor->run(FORWARD);
for (i = 0; i < 100; i++) {
myMotor->setSpeed(i);
delay(10);
// Check if the code enters here
Serial.print("Period_3a");
}
// When reach max speed, keep it constant
myMotor->setSpeed(i);
delay(5000);
// Decelerate to a lower speed to keep torque
for (i = 100; i != 50; i--) {
myMotor->setSpeed(i);
delay(10);
// Checking
Serial.print("ONE");
}
// Keep the low speed for a while
myMotor->setSpeed(i);
delay(5000);
// Checking
Serial.print("TestForOne");
}
//PERIOD 4: hold the lift and move backwards //PROBLEM, moveBackwards() did not activate\\
myMotor->run(RELEASE);
while (millis() > (time_4_start) and millis() <= (time_4_end)) {
//myMotor->run(RELEASE);
Serial.print("Period_4a");
//myMotor->setSpeed(40);
//delay(2000); // const speed
moveBackwards(stepBackwards);
Serial.print("TestForTwo");
}
}
// New functions
void moveLeft(int L) {
stepper2.moveTo(-L);
stepper4.moveTo(L);
stepper2.run();
stepper4.run();
myStepper1->release();
myStepper3->release();
}
void moveRight(int R) {
stepper1.moveTo(-R);
stepper4.moveTo(R);
stepper1.run();
stepper4.run();
myStepper2->release();
myStepper3->release();
}
void moveForwards(int F) {
stepper2.moveTo(F); // going forwards
stepper3.moveTo(-F);
stepper2.run();
stepper3.run();
myStepper1->release();
myStepper4->release();
}
void moveBackwards(int B) {
stepper1.moveTo(-B); // going backwards
stepper4.moveTo(B);
stepper1.run();
stepper4.run();
myStepper2->release();
myStepper3->release();
}
