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arduino-cli/libraries/AccelStepper_74HC595/MultiStepper_74HC595.cpp

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+// MultiStepper_74HC595.cpp
+//
+// Copyright (C) 2015 Mike McCauley
+// $Id: MultiStepper_74HC595.cpp,v 1.2 2015/10/04 05:16:38 mikem Exp $
+
+#include "MultiStepper_74HC595.h"
+#include "AccelStepper_74HC595.h"
+
+MultiStepper_74HC595::MultiStepper_74HC595()
+    : _num_steppers(0)
+{
+}
+
+boolean MultiStepper_74HC595::addStepper(AccelStepper_74HC595& stepper)
+{
+    if (_num_steppers >= MULTISTEPPER_MAX_STEPPERS)
+	return false; // No room for more
+    _steppers[_num_steppers++] = &stepper;
+    return true;
+}
+
+void MultiStepper_74HC595::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_74HC595::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_74HC595::runSpeedToPosition()
+{ 
+    while (run())
+	;
+}
+