arduinoStepper

This Arduino sketch drives multiple stepper motors via serial commands using the Adafruit Motor/Stepper/Servo Shield v2.

• Supports up to 12 steppers
• Allows simultaneous, asynchronous movement of all steppers
• Speed and acceleration/deceleration
• Uses the AccelStepper library

Receive serial command to move a stepper motor

Note: Serial commands sent to the Arduino must be terminated by a linefeed - \n

Serial input to Arduino

stepperID steps speed acceleration

Example:

1 200 300 100

• Moves the second stepper
• To the position at 200 steps (usualy one rotation of the motor)
• Using a speed of 300
• With acceleration and deceleration of 100 (higher is faster)

Receive serial command to stop a stepper motor

Serial input to Arduino

stepperID unused speed acceleration

Example:

1 0 0 0

• Stops the second stepper
• The second parameter is unused, but must be present
• Speed must be set to zero
• Stops as soon as it can, using the acceleration specified

Send serial to indicate stepper start/stop

Serial output from Arduino

stepperID state

Example:

1 1

Indicates that stepper ID 1 started a move

Example:

1 0

Indicates that stepper ID 1 reached its destination and stopped