#include "Arduino.h"
#include "teensystep4.h"
using namespace TS4;
Stepper s1(0, 3);
Stepper s2(1, 4);
Stepper s3(2, 5);
void setup()
{
pinMode(LED_BUILTIN, OUTPUT);
TS4::begin(); // calling begin is required now
for (Stepper* s : {&s1, &s2, &s3}) // setup all motors
{
s->setMaxSpeed(10'000);
s->setAcceleration(50'000);
}
// steppers can be moved directly
s1.moveAbs(1000);
s2.moveAbs(2000);
delay(100);
// define and move a group of steppers
StepperGroup g1 = {s1, s2};
s1.setTargetAbs(-1000);
s2.setTargetAbs(-3000);
g1.move();
delay(100);
// define and move a stepper group on the fly
s3.setTargetAbs(3000);
s1.setTargetAbs(0);
StepperGroup{s3, s1}.move();
}
void loop()
{
digitalToggleFast(LED_BUILTIN);
delay(200);
}