How to create an array of AccelSteppers

[Harrzack]

My 4-motor project is FINALLY working - thanks to all for help given.

Would like to be able to put the 4 drivers into an array as the operations are quite repetitive.

What would be the setup (if possible) so I could refer to AS functions like "stepper[i].Run" ?

I'm guessing I'd have to get the actual AS object into the array, but not sure of syntax.

[gregor]

Hi,

untested code below.

#include <AccelStepper.h>

#define NUM_STEPPERS 4

//define an array of stepper pointers. initialize the pointer to NULL (null pointer) for safety (see below)
AccelStepper *steppers[NUM_STEPPERS] = {NULL, NULL, NULL, NULL};

void setup()
{
  //create accelStepper objects.
  steppers[0] = new AccelStepper(); // Defaults to AccelStepper::FULL4WIRE (4 pins) on 2, 3, 4, 5
  steppers[1] = new AccelStepper(AccelStepper::FULL4WIRE, 6, 7, 8, 9);
  steppers[3] = new AccelStepper(AccelStepper::FULL2WIRE, 10, 11);

  if (steppers[0])  //if AccelStepper object was successfully created
  {
    steppers[0]->setMaxSpeed(200.0);
    steppers[0]->setAcceleration(100.0);
    steppers[0]->moveTo(24);
  }
 
  if (steppers[1])
  {
    steppers[1]->setMaxSpeed(300.0);
    steppers[1]->setAcceleration(100.0);
    steppers[1]->moveTo(1000000);
  }

  //I have intentionally "forgot" to create an AccelStepper object for steppers[2] to demonstate the safety measure below
 
  if (steppers[3])
  {
    steppers[3]->setMaxSpeed(300.0);
    steppers[3]->setAcceleration(100.0);
    steppers[3]->moveTo(1000000);
  }
}
void loop()
{
  for (uint8_t i = 0; i < NUM_STEPPERS; i++)
  {
    //if a pointer in the array points at NULL (does not point to an AccelStepper object) the code is not executed.
    //this code will be skipped for steppers[2]
    if (steppers[i])
    {
      // Change direction at the limits
      if (steppers[i]->distanceToGo() == 0)
        steppers[i]->moveTo(-steppers[i]->currentPosition());

      steppers[i]->run();
    }
  }
}

[Harrzack]

Gregor - thanks for the code!  Looks good - close to what I thought it should be!

=Alan R.