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int state1=0;
int state2=0;
void homing(AccelStepper stepper1, AccelStepper stepper2)// AccelStepper stepper3, AccelStepper stepper4
{
FreezerGuideState=digitalRead(ReedSensorFreezerGuidePin);
BlenderArmState =digitalRead(ReedSensorBlenderArmPin);
Serial.println(state1);
homingmotor1(stepper1, ReedSensorFreezerGuidePin, state1);
//homingmotor2(stepper2, ReedSensorBlenderArmPin, state2);
/********************************************************************************/
}
void homingmotor1(AccelStepper stepper1, int homepin, int state)
{
int homingstate=digitalRead(homepin);
if (state == 0)
{
if (homingstate == 0)
{
state=1;
}
else{
stepper1.run();
}
}
else if (state == 1)
{
digitalWrite(12,HIGH);
stepper1.setCurrentPosition(0);
stepper1.setMaxSpeed(1200.0);
stepper1.setAcceleration(400.0);
stepper1.runToNewPosition(-24);
if (stepper1.distanceToGo() == 0){
state = 2;
}
}
else if (state ==2)
{
if(homingstate == 1)
{
stepper1.run();
}
else
{
state =3;
}
}
else if (state ==3)
{
stepper1.stop();
}
} |