iAccelStepper

interrupt driven stepper controller inherited from AccelStepper

To use this module inherit from the AccelStepper class, modify it to expose necessary members into public:

• _stepInterval
• _direction
• _currentPos
• _targetPos
• _speed
• _pin[4]

Easiest is to use provided patch https://github.com/sq7bti/iAccelStepper/blob/master/AccelStepper.patch

Within Energia on LM4F target there are only two timers available for free use: Timer1 and Timer2

• // SYSCTL_PERIPH_TIMER0, // wiring_analog.c analogWrite()
• SYSCTL_PERIPH_TIMER1,
• SYSCTL_PERIPH_TIMER2,
• SYSCTL_PERIPH_TIMER3
• // SYSCTL_PERIPH_TIMER4, // Tone.c
• // SYSCTL_PERIPH_TIMER5, // wiring.c - millis() micros()
• // SYSCTL_PERIPH_TIMER6,
• // SYSCTL_PERIPH_TIMER7

To sum up, both the original AccelStepper and iAccelStepper library should be located in your library folder, not necessarily in a common folder: ${ENERGIA_PROJECT}/sketches ${ENERGIA_PROJECT}/libraries/AccelStepper/AccelStepper.cpp ${ENERGIA_PROJECT}/libraries/AccelStepper/AccelStepper.h ${ENERGIA_PROJECT}/libraries/iAccelStepper/iAccelStepper.cpp ${ENERGIA_PROJECT}/libraries/iAccelStepper/iAccelStepper.h

In the main ino file one need to include both header files:

#include "AccelStepper.h"
#include "iAccelStepper.h"

Instantiation of object boils down to an empty declaration:

iAccelStepper axis1;
iAccelStepper axis2;

setup() should contain initialisation call:

axis1.begin(PB_0, PB_5);
axis2.begin(PE_4, PB_1);

To perform a movement, the usual methods of the original AccelStepper should be used, such as move(), moveTo() and stop(). The difference is iAccelStepper _DO_NOTREQUIRE call run() method. See example for more.