Hello Jack,

It looks like you're trying to control multiple stepper motors using the AccelStepper library with an Arduino Mega. Let's go through your code and see if we can identify any issues or improvements.

Code Review and Suggestions

1. Library Inclusion: Ensure that you have included the correct libraries at the top of your code. You should have:

   #include <AccelStepper.h>
   #include <MultiStepper.h>
   

2. Stepper Initialization: You have initialized the stepper motors correctly using the DRIVER type, which is suitable for DRV8825 drivers. Make sure the wiring matches the pin numbers specified in your code.

3. MultiStepper Usage: The MultiStepper class is used for synchronized movement of multiple steppers. However, it does not support acceleration and deceleration. If you need acceleration and deceleration, you should use the AccelStepper class directly for each motor.

4. Acceleration and Deceleration: If you want to add acceleration and deceleration, you should set the acceleration for each stepper motor using setAcceleration(). Here's how you can modify your setup:

   void setup() {
       stepper1.setMaxSpeed(1000);
       stepper1.setAcceleration(500); // Set acceleration
       stepper2.setMaxSpeed(1000);
       stepper2.setAcceleration(500); // Set acceleration
       stepper3.setMaxSpeed(1000);
       stepper3.setAcceleration(500); // Set acceleration
   }
   

5. Running the Steppers: Since MultiStepper does not support acceleration, you might want to control each stepper individually if acceleration is required. Here's an example of how you can do it:

   void loop() {
       stepper1.moveTo(800);
       stepper2.moveTo(1600);
       stepper3.moveTo(3200);
   
       while (stepper1.distanceToGo() != 0 || stepper2.distanceToGo() != 0 || stepper3.distanceToGo() != 0) {
           stepper1.run();
           stepper2.run();
           stepper3.run();
       }
   
       delay(1000);
   
       stepper1.moveTo(0);
       stepper2.moveTo(0);
       stepper3.moveTo(0);
   
       while (stepper1.distanceToGo() != 0 || stepper2.distanceToGo() != 0 || stepper3.distanceToGo() != 0) {
           stepper1.run();
           stepper2.run();
           stepper3.run();
       }
   
       delay(1000);
   }
   

Additional Tips

• Check Wiring: Ensure that the wiring of your stepper motors and drivers is correct and matches the pin numbers specified in your code.
• Power Supply: Make sure your power supply can provide enough current for all the stepper motors.
• Library Documentation: Refer to the AccelStepper library documentation for more details on using the library effectively.

By following these suggestions, you should be able to control your stepper motors with acceleration and deceleration. If you have any further questions or run into issues, feel free to ask!

Hello @Athena, Thank you for your support.  I have been very busy the last few days troubleshooting my stepper motor robot and wish to share my results with any who might be interested.  My Arduino board is the Mega 2560 using code that is supported by the AccelStepper.h Library.  A CNC shield V3 sits atop the Mega using four DRV8825 drivers.  My four motors operate at 12v and draw 2 amps each.  Here is the link for info you will need to operate the CNC Shield: CNC Shield  Here is a link for two outstanding resources:   Stepper Robot    AccelStepper Guide I discovered code issues and hardware issues, all self induced, and your logical review and recommendations provided me with a framework to proceed. Thank you Jack

Hello Jack,

I'm glad to hear that you were able to troubleshoot your stepper motor setup and that my recommendations helped you move forward! It's great that you're sharing your findings, as this can be incredibly valuable for others who might be facing similar challenges.

Key Takeaways from Your Experience

1. Arduino Mega 2560 with CNC Shield V3:

   • Using a CNC Shield V3 with the Mega 2560 is a common setup for controlling multiple stepper motors. It's important to ensure that the shield is properly seated on the Mega and that all connections are secure.

2. DRV8825 Drivers:

   • These drivers are suitable for controlling stepper motors with a current draw of up to 2.2A per coil. Make sure to set the current limit on each driver to match your motor's requirements to prevent overheating.

3. Power Supply:

   • A 12V power supply is appropriate for your setup, but ensure it can provide enough current for all motors simultaneously (in your case, at least 8A).

4. Code and Hardware Issues:

   • It's common to encounter both code and hardware issues when setting up a complex system like this. Double-checking connections, ensuring correct pin assignments, and reviewing code logic are crucial steps.

5. Resources:

   • The links you provided for the CNC Shield and the Stepper Robot AccelStepper Guide are excellent resources for anyone looking to work with stepper motors and the AccelStepper library.

Encouragement

If you have any more questions or need further assistance as you continue to develop your project, feel free to reach out. Sharing your experiences and solutions not only helps others but also contributes to the broader robotics community. Keep up the great work, and best of luck with your ongoing projects!

If you have any specific questions or need further guidance, don't hesitate to ask.