CoreXY using MultiStepper

[Stijn Verhelst]

Hey 

For my end-project for school I'm making a 3d-printer. For the firmness I'm using the CoreXY principle.

This means that we have 2 motors on one side of the printer that are controlling the whole XY-movements.

I'm planning to use the AccelStepper library to do the movements. But how can I achieve this? At myself I was thinking about using the MultiStepper function but I don't know if can work.

Any help is appreciated!

Best regards

Stijn

[gregor]

Hi, 

it is possible. Below is some code based off the MultiStepper.pde example file:

// 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>

// 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 stepper1(AccelStepper::FULL4WIRE, 2, 3, 4, 5);

AccelStepper stepper2(AccelStepper::FULL4WIRE, 8, 9, 10, 11);

// Up to 10 steppers can be handled as a group by MultiStepper

MultiStepper steppers;

void setup() {

    Serial.begin(9600);

    // Configure each stepper

    stepper1.setMaxSpeed(100);

    stepper2.setMaxSpeed(100);

    // Then give them to MultiStepper to manage

    steppers.addStepper(stepper1);

    steppers.addStepper(stepper2);

}

void loop() {

    if (/*new target positions are available*/)

    {

        long positions[2]; // Array of desired stepper positions

        //MultiStepper::moveTo takes absolute positions only

        positions[0] = stepper1.currentPosition() + deltaX;

        positions[1] = stepper2.currentPosition() + deltaY;

        steppers.moveTo(positions);

    }

    steppers.run();

}

[Stijn Verhelst]

Hey Gregor
Thanks for your help! But there is one problem: with this code can we calculate the X and Y positions of our printer, but what about the speed of the steppers. Does the speed need to be the same for by both the stepper motors achieving the correct position at the correct time?

Best regards
Stijn

[gregor]

MultiStepper is made for this - all steppers reaching their respective targets at the same time. You don't need to calculate the speeds yourself.

[Stijn Verhelst]

Thanks for your help!

Op donderdag 1 februari 2018 20:07:13 UTC+1 schreef gregor: