StepperMulti - protothread stepper library for Arduino

This library is a fork of Stepper Library for Arduino and aimed to make several step motors run asynchronously in protothreading.

For base principles please refer to the original library's documentation.

For common usage examples check the examples folder.

The library is licensed under LGPL version 2.1.

New functions

start(int steps_to_move)

Start to move the motor to a specific number of steps, at a speed determined by the most recent call to setSpeed(). This function is non-blocking.

Parameters

• steps_to_move: the number of steps to turn the motor. Positive integer to turn one direction, negative integer to turn the other.

Returns

None.

stop(bool free_motor = true)

Stop moving the motor. By default it releases motor pins to prevent hardware overheating.

Parameters

• free_motor: if set to false motor pins are not released and motor is keep holding current position (breaking).

Returns

None.

step()

Rotate the motor according to current speed. This function must be called in every main loop. There should be no any blocking functions (like delay) at least when the motor is moving.

Parameters

None.

Returns

None.

isMoving()

Get current state of the motor: moving or not. It returns true until number of steps set in start() is not reached or stop() is called.

Parameters

None.

Returns

Boolean weather the motor is now moving or not.

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