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OxRAMSociety / RobotArm

Public repository for all resources related to the OxRAM Robot Arm project.
https://www.oxramsociety.org/
MIT License
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MultiStepper Arduino example #12

Open dyamon opened 2 years ago

dyamon commented 2 years ago

The AccelStepper Arduino library is able to group stepper motors together and move them in sync. We should explore this feature.

Have a look at this example on how to set things up.

dyamon commented 2 years ago

We managed to move multiple stepper at once and updated the example. We should really test the code with all 6 stepper motors connected.

dyamon commented 2 years ago

With old drivers, Multistepper was not ideal since it does not support acceleration, which turns out to be essential for some movements (especially the ones involving the shoulder).

Maybe we can give it another try with the new TB6560 drivers?