Arduino 控制三顆馬達

利用Arduino 同時控制 三台DM542 microstep driver 驅動三顆馬達

code裡面使用AccelStepper這個library
使用方式非常簡單 
宣告
#include AccelStepper.h
#include MultiStepper.h

指定DM542的 Pul, Dir, Ena 腳位
AccelStepper stepperX (1,2,3); // name of stepper motor (1 = driver, pin 2 = step, pin 3 = direction)
AccelStepper stepperY (1,4,5); // name of stepper motor (1 = driver, pin 4 = step, pin 5 = direction)
AccelStepper stepperZ (1,6,7); // name of stepper motor (1 = driver, pin 6 = step, pin 7 = direction)

MultiStepper steppers;

// 將三顆馬達加入
steppers.addStepper(stepperX);
steppers.addStepper(stepperY);
steppers.addStepper(stepperZ);

給定馬達移動距離
//----multi motor
positions[0]=gc.RotatorAngle[0];
positions[1]=gc.RotatorAngle[1];
positions[2]=gc.RotatorAngle[2];

steppers.moveTo(positions);

steppers.runSpeedToPosition();

如此便能同時動作!!