Constructs a RotateControl object with selectable values for the step pulse width (µs) and the speed update period (µs). During acceleration and deceleration, the controller updates the motor speed periodically. The period of this updates is set by the speedUpdatePeriod parameter (500µs to 20000µs). Smaller values increase the processor load but lead to a smoother acceleration. A value of 5000µs is sufficient for most of real life applications.

Constructs a RotateControl object with default parameters for the step pulse width (5µs) and speed update period (5ms).

Accepts up to N=10 references to stepper objects and starts rotating them. The rotation speeds are defined by the Stepper::setMaxSpeed function.

   RotateControl controller;
   Stepper s1(1,2), s2(3,4);
   controller.rotateAsync(s1,s2);        

Accepts an array of up to N=10 pointers to stepper objects and starts rotating them. The rotation speeds are defined by the Stepper::setMaxSpeed function. The function returns immediately after starting the motors (non blocking).

   // allocated on the stack / globally:
   Stepper m1(0,1);
   Stepper m2(2,3);
   Stepper m3(4,5);
   Stepeper* stArray[] = {&m1, &m2, &m3};         
   controller.rotateAsync(stArray);
   
   // or, allocated dynamically:
   Stepper* stArray[] = { new Stepper(1,2), new Stepper(3,4), newStepper(5,6)};         
   controller.rotateAsync(stArray);

This function is used to override the speed of all controlled motors on the fly. E.g. assume that the controller controls two motors m1, m2 with speeds of 20000 stp/s and 30000 respectively. A call to overrideSpeed(0.5f) would then decelerate m1 to 10000 stp/s and m2 to 15000 stp/s while keeping both motors in sync. Negative values will reverse the direction of the motors.

   controller.rotateAsync(s1,s2,s3);
   delay(1000);         
   controller.overrideSpeed(0.5)  // reduce speed of all motors (s1, s2, s3) to 50% 

Returns the current speed of the controlled motor. If more than one motor is controlled by the controller it returns the current speed of the leading (fastest) motor. The speed of the other motors is always a fixed ratio to the speed of the leading motor.

   controller.rotateAsync(s1);           
   while(controller.getCurrentSpeed() < 5000)
   {
      Serial.printf("pos: %d, speed: %d\n", s1.getPosition(), controller.getCurrentSpeed());
      delay(50);
   }
   controller.stop();           

Decelerates the controlled motors to a stop. This function returns immediately after starting the stop sequence (non blocking).

Decelerates the controlled motors to a stop and waits until the motors are stopped (blocking function).

Immediately stops the controlled motors. Use this only in emergency since, depending on motor speed this will probably lead to step losses. A homing sequence is highly recommended after a call to emergencyStop().