multistepper-device

This class can manage multiple AccelSteppers (up to MULTISTEPPER_MAX_STEPPERS = 10), and cause them all to move to selected positions at such a (constant) speed that they all arrive at their target position at the same time. This can be used to support devices with multiple steppers on say multiple axes to cause linear diagonal motion. Suitable for use with X-Y plotters, flatbeds, 3D printers etc to get linear straight line movement between arbitrary 2d (or 3d or ...) positions. Caution: only constant speed stepper motion is supported: acceleration and deceleration is not supported All the steppers managed by MultiStepper will step at a constant speed to their target (albeit perhaps different speeds for each stepper).

// Include C++ library:
{{#global}}
#include <MultiStepper.h>
#include <AccelStepper.h>
{{/global}}

struct State {
   uint8_t mem[sizeof(MultiStepper)];
};

using Type = MultiStepper*;

{{ GENERATED_CODE }}

void evaluate(Context ctx) {
   if (!isSettingUp())
        return;

    auto state = getState(ctx);

    Type Mstepper = new (state->mem) MultiStepper();
    
    emitValue<output_MDEV>(ctx, Mstepper);
    emitValue<output_DONE>(ctx, 1);
}