Using uStepper S-Lite pins to control servo motors

Other Hardware Robotics
1

Hi there,

I have a project which uses a NEMA17 stepper motor, plus a servo motor. As part of the NEMA17 bundle bought online came a uStepper S-Lite. It's meant to be like a combined arduino and H-bridge for the stepper motor, with extra pins for other stuff. It actually looks pretty neat if I can get it all working. The board/pin layout can be found by scrolling down here...

After a while, I got my stepper motor working on the uStepper S-Lite board using this simple code:

#include <uStepperSLite.h>
#define MAXACCELERATION 50000         //Max acceleration = 50000 Steps/s^2
#define MAXVELOCITY 25000           //Max velocity = 25000 steps/s
uStepperSLite stepper(MAXACCELERATION, MAXVELOCITY);

void setup() {
  stepper.setup();
}

void loop() {
  stepper.moveSteps (16398, CCW, HARD);
  delay( 2000);
  stepper.moveSteps (16398, CW, HARD);
  delay( 2000);
}

I've also got a servo motor running on the arduino using this standard, simple code:

#include <Servo.h>
Servo servo1;
int pos1 = 0;

void setup(){
  servo1.attach(9);
}

void loop(){
  for(pos1 = 0 ; pos1 < 180; pos1 += 1){
    servo1.write(pos1);
    delay(10);
  }
  for(pos1 = 180; pos1 >= 1; pos1 -= 1){
    servo1.write(pos1);
    delay(10);
  }
}

All good so far!

Now, I'm trying (and failing) to bring together the codes to run both motors from the uStepper S-Lite board. From the board layout, I've located the 5v and Ground pins. I'm trying to use pin D6 for the servo signal wire, as i used a digital pin to control from the arduino. (I guessing it should be using servo1.attach(6) not servo1.attach(D6))

This was the code I came up with (e.g. run the stepper motor back and forth, then move the servo).

#include <uStepperSLite.h>
#include <Servo.h>

#define MAXACCELERATION 50000         //Max acceleration = 50000 Steps/s^2
#define MAXVELOCITY 25000           //Max velocity = 25000 steps/s

uStepperSLite stepper(MAXACCELERATION, MAXVELOCITY);
Servo servo1;
int pos1 = 0;

void setup() {
  // put your setup code here, to run once:
  stepper.setup();
  servo1.attach(6);
}

void loop() {
  // put your main code here, to run repeatedly:

  stepper.moveSteps (16398, CCW, HARD);
  delay( 2000);
  stepper.moveSteps (16398, CW, HARD);
  delay( 2000);
  for(pos1 = 0 ; pos1 < 180; pos1 += 1){
    servo1.write(pos1);
    delay(10);
  }
  for(pos1 = 180; pos1 >= 1; pos1 -= 1){
    servo1.write(pos1);
    delay(10);
  }
}

I get nowt. It fails to compile and I get this error message:

libraries\Servo\avr\Servo.cpp.o (symbol from plugin): In function `ServoCount':

(.text+0x0): multiple definition of `__vector_11'

libraries\uStepper_S-lite\uStepperSLite.cpp.o (symbol from plugin):(.text+0x0): first defined here

collect2.exe: error: ld returned 1 exit status

exit status 1
Error compiling for board uStepper S-lite.

Thanks for taking the time to read this. Any ideas y'all?

p.s. Not expecting it to work, I did try pasting #include <uStepperSLite.h> at the top of the arduino/servo code and it gave me the exact same error.