Running stepper motor but needing to insert delays for the HIGH/LOW calls

[Pvanwagoner3]

Anybody used painlessmesh with a stepper motor. I have a Christmas display that I'm needing to use stepper motors to spin for say 1000 steps, then stop until it gets a command to reverse the 1000 steps.
digitalWrite(dir,HIGH);

    for(int x = 0; x < numsteps; x++) 
      {

        digitalWrite(step,HIGH); 
        delayMicroseconds(delaytime);    // by changing this time delay between the steps we can change the rotation speed
        digitalWrite(step,LOW); 
        delayMicroseconds(delaytime); 
      }

How can I do this with painlessmesh without causing a backlog. Need I guess to have some type of non-blocking code so the other Nodes are not backed up.

[Pvanwagoner3]

Forgot to add where the code is
void receivedCallback( uint32_t from, String &msg ) {
Serial.printf("startHere: Received from %u msg=%s\n", from, msg.c_str());
if (msg.substring(0,2)==id)

{
Serial.println("04 found");
Light(msg.substring(3,6));
Motor(msg.substring(7,10));

}

void Motor(TSTRING value)
{
if (orgchan[1]!=value)
{
digitalWrite(enablepin,LOW);
if (value==ON)
{
Serial.println("Motor on");
digitalWrite(dir,HIGH);

    for(int x = 0; x < numsteps; x++) 
      {

        digitalWrite(step,HIGH); 
        delayMicroseconds(delaytime);    // by changing this time delay between the steps we can change the rotation speed
        digitalWrite(step,LOW); 
        delayMicroseconds(delaytime); 
      }

     }
  if (value==OFF)
    {
    Serial.println("motor off");
    digitalWrite(dir,LOW);
    for(int x = 0; x < numsteps; x++) 
      {
    
       digitalWrite(step,HIGH); 
       delayMicroseconds(delaytime);    // by changing this time delay between the steps we can change the rotation speed
       digitalWrite(step,LOW); 
       delayMicroseconds(delaytime); 
      }
    }  
orgchan[1]=value;
digitalWrite(enablepin,HIGH);

}
}

[arkhipenko]

As much as possible DO NOT:

1. Have loops in the callback methods
2. Use delay() in the callback methods.

For #1 - you are already inside a loop with the scheduler, so make just one pass and return. You can use a getRunCounter()
(https://github.com/arkhipenko/TaskScheduler/wiki/API-Task#unsigned-long-getruncounter) as an iterator, you need a variable value.

For #2 - if you need microsecond precision do one (pin HIGH - microsecond delay - pin LOW) cycle and return.
Otherwise, adjust your interval to match your needs - use Layered Prioritization to call this callback method more frequently (avoiding delays due to the chain of tasks).

https://github.com/arkhipenko/TaskScheduler/wiki/Implementation-scenarios-and-ideas#8-enabling-task-prioritization

https://github.com/arkhipenko/TaskScheduler/wiki/Concept-of-Task-and-Cooperative-Task-Scheduling#task-priority-and-cooperative-multitasking-1

Or use multicore esp32 under FreeRTOS - one task runs TS and another controls stepper.
Here is an example of how it could be done:
https://github.com/arkhipenko/dnd/blob/7292be8d0ffec3a0331c0efb72dec42997fc4efd/esp32_dnd_rtos_mjpeg_multi/esp32_dnd_rtos_mjpeg_multi.ino#L315