Transition between two Steppers with independently assigned cues

Projects General Guidance
1

Hello.

I am going to use two step motors, two easy-drivers, one arduino uno.
Each step motors have gear to rotate, both forward and backward.
First, I'd like to assign multiple rotation cues for each steppers. such as,

int step1cue1 = 329
int step1cue2 = 582
int step1cue3 = 1038
int step1 cue4 = 1790
...

int step2cue1 = 568
int step2cue2 = 1004
int step2cue3 = 1928
int step2cue4 = 3592
...

and each stepper needs minimum 0 and maximum value, such as,
int step1maxcue = 8372
int step2maxcue = 8421

each rotation speed and acceleration need to be set and controllable as well.
I would like to use rotation speed = 0 to make the stepper stopped at the cue.

** Operation

Both steppers start from 0,
First, stepper1 rotates to randomly chosen cue from its step1cues, when it almost reaches to the chosen cue, stepper2 starts to rotate to randomly chosen cue from step2cues.(stepper1 stopped at the cue with speed=0), when step2 almost reaches to its cue, stepper1 starts to rotate to another randomly chosen step1cue (not the current cue).. (stepper2 stops with speed=0).. and repeat this transition between two steppers.

I would like to use the code from this, Easy Driver Examples

#include <AccelStepper.h>

// Define two steppers and the pins they will use
AccelStepper stepper1(1, 9, 8);
AccelStepper stepper2(1, 7, 6);

int pos1 = 3600;
int pos2 = 5678;

void setup()
{  
  stepper1.setMaxSpeed(3000);
  stepper1.setAcceleration(1000);
  stepper2.setMaxSpeed(2000);
  stepper2.setAcceleration(800);
}

void loop()
{
  if (stepper1.distanceToGo() == 0)
  {
        pos1 = -pos1;
    stepper1.moveTo(pos1);
  }
  if (stepper2.distanceToGo() == 0)
  {
    pos2 = -pos2;
    stepper2.moveTo(pos2);
  }
  stepper1.run();
  stepper2.run();
}

Could you please help me to code this?

Best,
J

2

I think you need to completely separate the business of selecting cues from the business of controlling the motor.

Create a simple function that will move the motor when it is given certain values. It should also set a flag variable to note whether the motor is moving or if the move is finished.

Then youn eed another function (probably slightly more complex) to select from among the cues and pass the appropriate data to the motor function.

By splitting the problem like this you can develop and test each piece separately.

You may find some ideas in Planning and Implementing a Program

...R