runspeed and run

[Paulo Silva]

Hello i dont understand the diference of runspeed and run; but runspeed in my code works better then run

#include <AccelStepper.h>

//pins

#define encoderPinA 2

#define encoderPinB 3

#define ZIGZAG_PIN 4

#define LEFT_PIN 5

#define STOP_PIN 6

#define RIGHT_PIN 7

#define enabledriver 8

AccelStepper stepper1(AccelStepper::DRIVER, 9, 10);

//vals

const int encoderMax = 24;

static char sign = 0;  // Holds -1, 1 or 0 to turn the motor on/off and control direction

boolean stateRun = false;

boolean stateOutputs = false;

const int sliderTotal = 26000;

const int sliderHome = 0;

int currentBasePos;

int current_speed = 0;

const int MAX_SPEED = 5000;

const int MAX_ACCEL = 5000;

int encoderPos = 0;

int encoderPosTemp = 0;

unsigned int lastReportedPos = 1;   // change management

static boolean rotating = false;    // debounce management

boolean A_set = false;

boolean B_set = false;

void setup() {

  /*debug

    Serial.begin(9600);  // output

    Serial.println("start");

  */

  //encoder

  pinMode(encoderPinA, INPUT_PULLUP);

  pinMode(encoderPinB, INPUT_PULLUP);

  attachInterrupt(0, doEncoderA, CHANGE);

  attachInterrupt(1, doEncoderB, CHANGE);

  

  //button

  pinMode(LEFT_PIN, INPUT_PULLUP);

  pinMode(STOP_PIN, INPUT_PULLUP);

  pinMode(RIGHT_PIN, INPUT_PULLUP);

  pinMode(ZIGZAG_PIN, INPUT_PULLUP);

  //stepper setup

  delay(3000);

  stepper1.setPinsInverted(false, false, true);

  stepper1.setEnablePin(enabledriver);

  stepper1.disableOutputs();

}

void loop() {

  rotating = true;  // reset the debouncer

  currentBasePos = stepper1.currentPosition();

  // If a switch is pushed down (low), set the sign value appropriately

  if (digitalRead(LEFT_PIN) == 0) {

    delay(250);

        stateRun = true;       

    stepper1.stop();

    stepper1.enableOutputs();

    stepper1.setMaxSpeed(MAX_SPEED);

    stepper1.setAcceleration(MAX_ACCEL);

    stepper1.moveTo(sliderTotal);

    sign = 1;

    encoderPos = 0;

    encoderPosTemp = 0;

  }

  else if (digitalRead(RIGHT_PIN) == 0) {

    delay(250);

    stateRun = true;

    stepper1.stop();

    stepper1.enableOutputs();

    stepper1.setMaxSpeed(MAX_SPEED);

    stepper1.setAcceleration(MAX_ACCEL);

    stepper1.moveTo(sliderHome);

    sign = -1;

    encoderPos = 0;

    encoderPosTemp = 0;

  }

  else if (digitalRead(STOP_PIN) == 0) {

    delay(250);

    stepper1.stop();

    stepper1.disableOutputs();

    encoderPos = 0;

    encoderPosTemp = 0;

    sign = 0;

 

  }

  else if (digitalRead(ZIGZAG_PIN) == 0) {

    delay(250);

    stateRun = true;

    stepper1.stop();

    stepper1.enableOutputs();

    stepper1.setMaxSpeed(MAX_SPEED);

    stepper1.setAcceleration(750);

    stepper1.runToNewPosition(0);

    delay(2000);

    stepper1.runToNewPosition(26000);

    stepper1.runToNewPosition(0);

    stepper1.disableOutputs();

    sign = 0;

    encoderPos = 0;

    encoderPosTemp = 0;     

  }

 

  /*debug

  if (lastReportedPos != encoderPos) {

    //Serial.println(-encoderPos);

    Serial.println(stepper1.speed());

    //Serial.printm(stepper1.currentPosition());

        lastReportedPos = encoderPos;

  }

  */

  

  // run motor speed 

  encoderPosTemp = -encoderPos;

  if ( encoderPosTemp > encoderMax ){

        encoderPosTemp = encoderMax;

      }

  if ( encoderPosTemp < 0 ){

        encoderPosTemp = 0;

      }

  current_speed = pow( 2, encoderPosTemp * 0.53) * sign;

  stepper1.setSpeed(current_speed);

  stepper1.runSpeed();

 

  if ( stepper1.currentPosition() == stepper1.targetPosition() && stateRun == true){

    encoderPosTemp = 0;

    encoderPos = 0;

    sign = 0;

    stepper1.stop();

    stepper1.disableOutputs();

    stateRun = false;

  }

  if ( stepper1.currentPosition() < 0){

    encoderPosTemp = 0;

    encoderPos = 0;

    sign = 0; 

    stepper1.stop();

    stepper1.disableOutputs();

    stateRun = false;

  }

  

}

// Interrupt on A changing state

void doEncoderA() {

  // debounce

  if ( rotating ) delayMicroseconds(500);  // wait a little until the bouncing is done

  // Test transition, did things really change?

  if ( digitalRead(encoderPinA) != A_set ) { // debounce once more

    A_set = !A_set;

    // adjust counter + if A leads B

    if ( A_set && !B_set )

      encoderPos += 1;

    rotating = false;  // no more debouncing until loop() hits again

  }

}

// Interrupt on B changing state, same as A above

void doEncoderB() {

  if ( rotating ) delayMicroseconds(500);

  if ( digitalRead(encoderPinB) != B_set ) {

    B_set = !B_set;

    //  adjust counter - 1 if B leads A

    if ( B_set && !A_set )

      encoderPos -= 1;

    rotating = false;

  }

}

[gregor christandl]

Run() supports acceleration, runSpeed() steps at a constant speed. The computational overhead of run() results in a lower maximum speed.

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