添加arduino电机测试

steper/arduino/MultiStepperTest/MultiStepperTest.ino

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+// MultiStepper.pde
+// -*- mode: C++ -*-
+// 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.
+
+#include <AccelStepper.h>
+#include <MultiStepper.h>
+
+// Joint 1
+#define E1_STEP_PIN   53
+#define E1_DIR_PIN   51
+#define E1_ENABLE_PIN 31
+
+// Joint 2
+#define Z_STEP_PIN         32
+#define Z_DIR_PIN          30
+#define Z_ENABLE_PIN       62
+#define Z_MIN_PIN          18
+#define Z_MAX_PIN          19
+
+// Joint 3
+#define Y_STEP_PIN         40
+#define Y_DIR_PIN          42
+#define Y_ENABLE_PIN       56
+#define Y_MIN_PIN          14
+#define Y_MAX_PIN          15
+
+// Joint 4
+#define X_STEP_PIN 54
+#define X_DIR_PIN 55
+#define X_ENABLE_PIN 38
+
+// Joint 5 
+#define E0_STEP_PIN 43
+#define E0_DIR_PIN 41
+#define E0_ENABLE_PIN 24
+
+
+// EG X-Y position bed driven by 2 steppers
+// Alas its not possible to build an array of these with different pins for each :-(
+AccelStepper joint1(1,E1_STEP_PIN, E1_DIR_PIN);
+AccelStepper joint2(1,Z_STEP_PIN, Z_DIR_PIN);
+AccelStepper joint3(1,Y_STEP_PIN, Y_DIR_PIN);
+AccelStepper joint4(1,X_STEP_PIN, X_DIR_PIN);
+AccelStepper joint5(1, E0_STEP_PIN, E0_DIR_PIN);
+
+// Up to 10 steppers can be handled as a group by MultiStepper
+MultiStepper steppers;
+
+//test with uint8 converted to long
+unsigned int x = 1000;
+
+void setup() {
+  Serial.begin(250000);
+
+  // Configure each stepper
+  joint1.setMaxSpeed(1500);
+  joint2.setMaxSpeed(750);
+  joint3.setMaxSpeed(2000);
+  joint4.setMaxSpeed(500);
+  joint5.setMaxSpeed(1000);
+
+  // Then give them to MultiStepper to manage
+  steppers.addStepper(joint1);
+  steppers.addStepper(joint2);
+  steppers.addStepper(joint3);
+  steppers.addStepper(joint4);
+  steppers.addStepper(joint5);
+}
+
+void loop() {
+  long positions[5]; // Array of desired stepper positions
+
+  // Back of the envelope calculation for microsteps/revolution, where positions[i] is the number of steps (or microsteps).
+  positions[0] = 0; //4100 microsteps is 1/8 revolutions ----> 32800 microsteps/rev
+  positions[1] = 0; //2000 is 40/360 revolutions ---> 18000 microsteps/rev
+  positions[2] = 0; //4000 is 20/360 revolutions ---> 72000 microsteps/rev
+  positions[3] = 0; //820 is 1/4 revolution (200steps/revolution * 16microsteps/step (since microstepping) ~= 32800 microsteps/rev)
+  positions[4] = 0; //2000 is 50/360 revolution ---> 14400
+  
+  steppers.moveTo(positions);
+  steppers.runSpeedToPosition(); // Blocks until all are in position
+  delay(2000);
+  // Move to a different coordinate
+  positions[0] = 0;
+  positions[1] = 3000;
+  positions[2] = 0;
+  positions[3] = 0;
+  positions[4] = 0;
+  steppers.moveTo(positions);
+  steppers.runSpeedToPosition(); // Blocks until all are in position
+  delay(2000);
+}