motors.cpp

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// motors.c
 
#include <AccelStepper.h>
 
AccelStepper slider_stepper; // Defaults to AccelStepper::FULL4WIRE (4 pins) on 2, 3, 4, 5
AccelStepper rotator_stepper(AccelStepper::FULL4WIRE, 7,8,9,10); 
 
 
#define TOP_LIMIT 0
#define BOTTOM_LIMIT 1
 
volatile byte ledState = LOW;
 
 
void limit_motors() {  
    digitalToggle(LED_RED);
    slider_stepper.disableOutputs();
    slider_stepper.moveTo(slider_stepper.currentPosition());
}
 
 
 
void setup_steppers(){
// limit switches
  pinMode(TOP_LIMIT, INPUT_PULLUP);
  pinMode(BOTTOM_LIMIT, INPUT_PULLUP);
  pinMode(LED_RED, OUTPUT);
 
  attachInterrupt(digitalPinToInterrupt(TOP_LIMIT), limit_motors, FALLING);
  attachInterrupt(digitalPinToInterrupt(BOTTOM_LIMIT), limit_motors, FALLING);
 
  // slider
  slider_stepper.setMaxSpeed(900);
  slider_stepper.setAcceleration(30);
  slider_stepper.moveTo(0);
  
  rotator_stepper.setMaxSpeed(2000);
  slider_stepper.setAcceleration(30);
  slider_stepper.moveTo(0);
 
    digitalToggle(LED_RED);
    delay(200);
    digitalToggle(LED_RED);
 
}
 
void slide_dist(int dist){
   slider_stepper.moveTo(slider_stepper.currentPosition() + dist);
}
 
 
void rotate_angle(int angle){
   rotator_stepper.moveTo(rotator_stepper.currentPosition() + angle);
}
 
 
void run_or_off(){
  if (!slider_stepper.run()){
    slider_stepper.disableOutputs();
  } else {
    slider_stepper.enableOutputs();
  }
 
  if (!rotator_stepper.run()){
    rotator_stepper.disableOutputs();
  } else {
    rotator_stepper.enableOutputs();
  }
}
 
void run_or_hold(){
    slider_stepper.run();
    rotator_stepper.run();
}