Stepper Motor Angle and Speed Control

[MicroBahner]

@2178an

when i Singleclick the stepper moves to the compassAngle1 and then returns to function 1, i want the stepper to keep holding the compassAngle1 ( function2) position in 60 seconds or if the manual function is activated.

You must change the function2 code to do that. As it is now you directly return to function1 if the stepper has reached the target position:

            case 2: // // Move to angle set by compass for testing "CompassAngle",
                // switch back to joystick control if position reached or joystick is active
                if ( !stepper1.moving()  || joyActive ) function = 1;
                break;

You can try this, if you want the stepper to hold its position for 60 seconds before going back to function1 ( try, it's untested! )

            case 2: // // Move to angle set by compass for testing "CompassAngle",
                // switch back to joystick control if position reached or joystick is active
                if ( joyActive || holdTimer.expired() ) function = 1;
                if ( !stepper1.moving()  && !holdTimer.running() ) {
                  holdTimer.setTime( 60000 );
                }

Of course you must define the new timer:

...
MoToTimebase printTimer;                            // Timer to print in regular intervals without blocking sketch
MoToTimebase joyTimer;                              // Timer to read joystick in regular intervals without blocking sketch
MoToTimer holdTimer;                                // Timer for stepper to hold position
...

@2178an

Then i want to hold the axleposition in compassAnglePos direction even if the motor mount rotates. I understand that i have to calculate the difference between compassAnglePos and the event.orientation.x to adjust the axlepositon i just dont know how?

I can't really imagine that yet. Perhaps a photo of the construction would be helpful. And I have no experience with your sensor.