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src/MultiStepper.h

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+// MultiStepper.h
+
+#ifndef MultiStepper_h
+#define MultiStepper_h
+
+#include <stdlib.h>
+#if ARDUINO >= 100
+#include <Arduino.h>
+#else
+#include <WProgram.h>
+#include <wiring.h>
+#endif
+
+#define MULTISTEPPER_MAX_STEPPERS 10
+
+class AccelStepper;
+
+/////////////////////////////////////////////////////////////////////
+/// \class MultiStepper MultiStepper.h <MultiStepper.h>
+/// \brief Operate multiple AccelSteppers in a co-ordinated fashion
+///
+/// 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).
+class MultiStepper
+{
+public:
+    /// Constructor
+    MultiStepper();
+
+    /// Add a stepper to the set of managed steppers
+    /// There is an upper limit of MULTISTEPPER_MAX_STEPPERS = 10 to the number of steppers that can be managed
+    /// \param[in] stepper Reference to a stepper to add to the managed list
+    /// \return true if successful. false if the number of managed steppers would exceed MULTISTEPPER_MAX_STEPPERS
+    boolean addStepper(AccelStepper& stepper);
+
+    /// Set the target positions of all managed steppers 
+    /// according to a coordinate array.
+    /// New speeds will be computed for each stepper so they will all arrive at their 
+    /// respective targets at very close to the same time.
+    /// \param[in] absolute An array of desired absolute stepper positions. absolute[0] will be used to set
+    /// the absolute position of the first stepper added by addStepper() etc. The array must be at least as long as 
+    /// the number of steppers that have been added by addStepper, else results are undefined.
+    void moveTo(long absolute[]);
+    
+    /// Calls runSpeed() on all the managed steppers
+    /// that have not acheived their target position.
+    /// \return true if any stepper is still in the process of running to its target position.
+    boolean run();
+
+    /// Runs all managed steppers until they acheived their target position.
+    /// Blocks until all that position is acheived. If you dont
+    /// want blocking consider using run() instead.
+    void    runSpeedToPosition();
+    
+private:
+    /// Array of pointers to the steppers we are controlling.
+    /// Fills from 0 onwards
+    AccelStepper* _steppers[MULTISTEPPER_MAX_STEPPERS];
+
+    /// Number of steppers we are controlling and the number
+    /// of steppers in _steppers[]
+    uint8_t       _num_steppers;
+};
+
+/// @example MultiStepper.pde
+/// Use MultiStepper class to manage multiple steppers and make them all move to 
+/// the same position at the same time for linear 2d (or 3d) motion.
+
+#endif