additional stepper example

release as version 2.4.3

README.md

@@ -25,10 +25,11 @@ A documentation file in [german](MobaTools-241-de.pdf) and [english](MobaTools-2
 
 | Version |  Release Date  | Description
 | ------- |  ------------  | -----------
-| 2.4.3 | 2022-xx-x| small bugfix to suppress warnings (issue [#10](https://github.com/MicroBahner/MobaTools/issues/10) )
+| 2.4.3 | 2022-04-28| small bugfix to suppress warnings (issue [#10](https://github.com/MicroBahner/MobaTools/issues/10) )
 | | | bugfix for setZero(position) for steppers in FULLSTEP mode
 | | | bugfix with AccelStepper like method names ( compiler error if both libs have been included )
 | | | 2 additional timer examples commented in english
+| | | 1 additional stepper example
 | 2.4.2 | 2021-12-23| fix bug in MoToStepper.setSpeedSteps ( was possible divide by zero )
 | | | ESP crashed
 | 2.4.1 | 2021-11-12| fix typo: arduino.h -> Arduino.h ( created an error on linux )

examples/_Stepper/back_ForthStepperPause/back_ForthStepperPause.ino

@@ -0,0 +1,49 @@
+/*  Example for MobaTools
+    Moving a stepper back and forth
+*/
+#include <MobaTools.h>
+
+// Adjust pins, steps and time as needed
+const byte stepPin = 9;
+const byte dirPin  = 8;
+const int stepsPerRev = 800;   // Steps per Revolution ( example with 1/4 microsteps )
+const long  targetPos = 1600;         // stepper moves between 0 and targetpos
+long nextPos;
+
+
+MoToStepper myStepper ( stepsPerRev, STEPDIR );
+MoToTimer pause;                    // Pause between stepper moves
+bool stepperRunning;
+
+void setup() {
+  myStepper.attach( stepPin, dirPin );
+  myStepper.setSpeed( 600 );  // 60 Rev/Min ( if stepsPerRev is set correctly )
+  myStepper.setRampLen( 200 );
+  stepperRunning = true;
+}
+
+void loop() {
+  if ( stepperRunning ) {
+    // Wait till stepper has reached target, then set pause time
+    if ( !myStepper.moving() ) {
+      // stepper has reached target, start pause
+      pause.setTime( 1000 );
+      stepperRunning = false;
+    }
+  } else {
+    // stepper doesn't move, wait till pause time expires
+    if ( pause.expired() ) {
+      // pause time expired. Start stepper in opposite direction
+      if ( nextPos == 0 ) {
+        nextPos = targetPos;
+      } else {
+        nextPos = 0;
+      }
+      myStepper.moveTo( nextPos );
+      stepperRunning = true;
+    }
+  }
+
+  // The sketch is not blocked while the stepper is moving nor while it is stopped.
+  // Other nonblocking  tasks can be added here
+}

src/MobaTools.h

@@ -1,8 +1,8 @@
 #ifndef MOBATOOLS_H
 #define MOBATOOLS_H
 /*
-  MobaTools.h - a library for model railroaders
-  Author: fpm, fpm-gh@mnet-mail.de
+  MobaTools.h - a library for model makers - and others too ;-) 
+  Author: Franz-Peter Müller, f-pm+gh@mailbox.org
   Copyright (c) 2021 All rights reserved.
 
   This library is free software; you can redistribute it and/or
@@ -19,9 +19,16 @@
   License along with this library; if not, write to the Free Software
   Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 
-  MobaTools V2.4.1
+  MobaTools V2.4.3
    
   History:
+  V2.4.3 04-2022
+	 - bugfix for setZero(position) for steppers in FULLSTEP mode
+	 - bugfix with AccelStepper like method names ( compiler error if both libs have been included )
+	 - 2 additional timer examples commented in english
+	 - 1 additional stepper example
+  V2.4.2 12-2021
+	 - fix bug in MoToStepper.setSpeedSteps ( was possible divide by zero ), ESP crashed
   V2.4.1 11-2021
      - fix typo ( arduino.h -> Arduino.h ). This created an error on linux.
      - some fixes in MoToButtons and documentation