Stepper Motor Angle and Speed Control

[MicroBahner]

Hi Andreas,
This

@2178an

i want stepper1.write(compassAngle1) to write the compassAngle1 value every 200ms because

comes across with the hold time for function 2 after the stepper has reached the compass position:

@2178an

                if ( joyActive || holdTimer.expired() ) function = 1;
                if ( !stepper1.moving()  && !holdTimer.running() ) {
                   holdTimer.setTime( 6000 );           

If the stepper is always moving, the timer will never be started.

To update the position every 200ms you could use an additional BaseTimer or you use a bool variable. Because of your joystick timer the switch case block is called only every 100ms. If you call stepper1.write(compassAngle1) every second pass ( by toggling your bool ), you will update it every 200ms.