move multiple stepper at same time

arduino/src/sketch/MultiStepper.cpp

@@ -0,0 +1,72 @@
+// MultiStepper.cpp
+//
+// Copyright (C) 2015 Mike McCauley
+// $Id: MultiStepper.cpp,v 1.2 2015/10/04 05:16:38 mikem Exp $
+
+#include "MultiStepper.h"
+#include "AccelStepper.h"
+
+MultiStepper::MultiStepper()
+    : _num_steppers(0)
+{
+}
+
+boolean MultiStepper::addStepper(AccelStepper& stepper)
+{
+    if (_num_steppers >= MULTISTEPPER_MAX_STEPPERS)
+	return false; // No room for more
+    _steppers[_num_steppers++] = &stepper;
+}
+
+void MultiStepper::moveTo(long absolute[])
+{
+    // First find the stepper that will take the longest time to move
+    float longestTime = 0.0;
+
+    uint8_t i;
+    for (i = 0; i < _num_steppers; i++)
+    {
+	long thisDistance = absolute[i] - _steppers[i]->currentPosition();
+	float thisTime = abs(thisDistance) / _steppers[i]->maxSpeed();
+
+	if (thisTime > longestTime)
+	    longestTime = thisTime;
+    }
+
+    if (longestTime > 0.0)
+    {
+	// Now work out a new max speed for each stepper so they will all 
+	// arrived at the same time of longestTime
+	for (i = 0; i < _num_steppers; i++)
+	{
+	    long thisDistance = absolute[i] - _steppers[i]->currentPosition();
+	    float thisSpeed = thisDistance / longestTime;
+	    _steppers[i]->moveTo(absolute[i]); // New target position (resets speed)
+	    _steppers[i]->setSpeed(thisSpeed); // New speed
+	}
+    }
+}
+
+// Returns true if any motor is still running to the target position.
+boolean MultiStepper::run()
+{
+    uint8_t i;
+    boolean ret = false;
+    for (i = 0; i < _num_steppers; i++)
+    {
+	if ( _steppers[i]->distanceToGo() != 0)
+	{
+	    _steppers[i]->runSpeed();
+	    ret = true;
+	}
+    }
+    return ret;
+}
+
+// Blocks until all steppers reach their target position and are stopped
+void    MultiStepper::runSpeedToPosition()
+{ 
+    while (run())
+	;
+}
+

arduino/src/sketch/MultiStepper.h

@@ -0,0 +1,78 @@
+// MultiStepper.h
+
+#ifndef MultiStepper_h
+#define MultiStepper_h
+
+#include <stdlib.h>
+#if ARDUINO >= 100
+#include <Arduino.h>
+#else
+#include <WProgram.h>
+#include <wiring.h>
+#endif
+
+#define MULTISTEPPER_MAX_STEPPERS 10
+
+class AccelStepper;
+
+/////////////////////////////////////////////////////////////////////
+/// \class MultiStepper MultiStepper.h <MultiStepper.h>
+/// \brief Operate multiple AccelSteppers in a co-ordinated fashion
+///
+/// This class can manage multiple AccelSteppers (up to MULTISTEPPER_MAX_STEPPERS = 10), 
+/// and cause them all to move
+/// to selected positions at such a (constant) speed that they all arrive at their
+/// target position at the same time. This can be used to support devices with multiple steppers
+/// on say multiple axes to cause linear diagonal motion. Suitable for use with X-Y plotters, flatbeds,
+/// 3D printers etc
+/// to get linear straight line movement between arbitrary 2d (or 3d or ...) positions.
+///
+/// Caution: only constant speed stepper motion is supported: acceleration and deceleration is not supported
+/// All the steppers managed by MultiStepper will step at a constant speed to their
+/// target (albeit perhaps different speeds for each stepper).
+class MultiStepper
+{
+public:
+    /// Constructor
+    MultiStepper();
+
+    /// Add a stepper to the set of managed steppers
+    /// There is an upper limit of MULTISTEPPER_MAX_STEPPERS = 10 to the number of steppers that can be managed
+    /// \param[in] stepper Reference to a stepper to add to the managed list
+    /// \return true if successful. false if the number of managed steppers would exceed MULTISTEPPER_MAX_STEPPERS
+    boolean addStepper(AccelStepper& stepper);
+
+    /// Set the target positions of all managed steppers 
+    /// according to a coordinate array.
+    /// New speeds will be computed for each stepper so they will all arrive at their 
+    /// respective targets at very close to the same time.
+    /// \param[in] absolute An array of desired absolute stepper positions. absolute[0] will be used to set
+    /// the absolute position of the first stepper added by addStepper() etc. The array must be at least as long as 
+    /// the number of steppers that have been added by addStepper, else results are undefined.
+    void moveTo(long absolute[]);
+
+    /// Calls runSpeed() on all the managed steppers
+    /// that have not acheived their target position.
+    /// \return true if any stepper is still in the process of running to its target position.
+    boolean run();
+
+    /// Runs all managed steppers until they acheived their target position.
+    /// Blocks until all that position is acheived. If you dont
+    /// want blocking consider using run() instead.
+    void    runSpeedToPosition();
+
+private:
+    /// Array of pointers to the steppers we are controlling.
+    /// Fills from 0 onwards
+    AccelStepper* _steppers[MULTISTEPPER_MAX_STEPPERS];
+
+    /// Number of steppers we are controlling and the number
+    /// of steppers in _steppers[]
+    uint8_t       _num_steppers;
+};
+
+/// @example MultiStepper.pde
+/// Use MultiStepper class to manage multiple steppers and make them all move to 
+/// the same position at the same time for linear 2d (or 3d) motion.
+
+#endif

arduino/src/sketch/sketch.ino

@@ -1,22 +1,44 @@
 #include "AccelStepper.h"
 #include "axisDirectionStruct.h" //importing AxisAndDirection 
+#include "MultiStepper.h"
 
 String incomingByte;   // for incoming serial data
 int speed = 20;
 // The X Stepper pins
-#define STEPPER_DIR_PIN 10
-#define STEPPER_STEP_PIN 2
+#define STEPPER1_DIR_PIN 2
+#define STEPPER1_STEP_PIN 3
+
+#define STEPPER2_DIR_PIN 8
+#define STEPPER2_STEP_PIN 9
+
+//#define STEPPER3_DIR_PIN 10
+//#define STEPPER3_STEP_PIN 2
 #define led_pin 13
 
-// Define some stepper and the pins the will use
-//AccelStepper::DRIVER means that we are using Driver, or we can write simply "1"
-AccelStepper stepper(AccelStepper::DRIVER, STEPPER_STEP_PIN, STEPPER_DIR_PIN);
+/** Define some stepper and the pins the will use
+AccelStepper::DRIVER means that we are using Driver, or we can write simply "1"
+stepper1 : x-axis movement
+stepper2, stepper3 : y and z axis movement
+when both motor move in same direction with same speed : y axis, and when both motor moves in different direction with same speed : z axis
+*/
+AccelStepper stepper1(AccelStepper::DRIVER, STEPPER1_DIR_PIN, STEPPER1_STEP_PIN);
+AccelStepper stepper2(AccelStepper::DRIVER, STEPPER2_DIR_PIN, STEPPER2_STEP_PIN);
 
+//To add multiple steppers to MultiStepper
+MultiStepper steppers;
 void setup()
 {
+
 	Serial.begin(9600);
   pinMode(led_pin, OUTPUT);
-	stepper.setMaxSpeed(40);
+  //Set Max speed of steppers
+	stepper1.setMaxSpeed(10);
+  stepper2.setMaxSpeed(10);
+  stepper1.moveTo(0);
+  stepper2.moveTo(0);
+  // Then give them to MultiStepper to manage
+  steppers.addStepper(stepper1);
+  steppers.addStepper(stepper2);
 }
 
 void blockingRunSpeedToPosition(long position)
@@ -27,18 +49,27 @@ void blockingRunSpeedToPosition(long position)
 		But we want blocking so we have to implement own loop using while
 	*/
 
-	stepper.setCurrentPosition(0);
-
-    ///stepper.moveTo function : Set the target position absolute to the current position
-    //  stepper.moveTo(position);
-
-    ///stepper.move funtion : Set the target position relative to the current position
-    /// if position is negative then anticlockwise from the current position, else clockwise from current position
-    stepper.move(position);
-    stepper.setSpeed(speed);
+	stepper1.setCurrentPosition(0);
+  stepper2.setCurrentPosition(0);
+  stepper1.setAcceleration(100);
+  stepper2.setAcceleration(100);
+     /**stepper.moveTo function : Set the target position absolute to the current position
+        stepper.moveTo(position);
+        stepper.move funtion : Set the target position relative to the current position
+       if position is negative then anticlockwise from the current position, else clockwise from current position
+       */
+//    stepper1.move(position);
+//    stepper1.setSpeed(speed);
 //    stepper.setAcceleration(100.0);
-    while (stepper.distanceToGo() != 0)
-      stepper.runSpeedToPosition();
+//    while (stepper1.distanceToGo() != 0)
+//      stepper1.runSpeedToPosition();
+
+  long positions[2];
+  positions[0] = position;
+  positions[1] = position;
+//  steppers.setCurrentPosition(0);
+  steppers.moveTo(positions);
+  steppers.runSpeedToPosition();
 }
 
 
@@ -50,7 +81,7 @@ void loop()
    Serial.println(incomingByte);
 	  AxisAndDirection axisAndDirection = getAxisAndDirection(incomingByte);
 		int stepsPerKeyStrock = 200;
-		if(axisAndDirection.axis == 'x') {
+		if(axisAndDirection.axis == 'y') {
       digitalWrite(led_pin,HIGH);
 			if(axisAndDirection.direction == -1) {
 				stepsPerKeyStrock = -stepsPerKeyStrock;