Send stepper to position and back AccelStepper

Question

At the moment I am working on a code that should send a plateau to a certain position and back. The plateau is being moved by the stepper, in my case a Nema 17 with a Polulu DRV8825 driver. Everything is hooked up correctly. My goal is to press '4' on the keyboard and that then the stepper moves to a certain position. However, I am not succeeding in this. I am using AccelStepper and at the moment I have the following code:

#include <AccelStepper.h>
AccelStepper stepper(1, 5, 4);
int spd = 1000; // The current speed in steps/second
int sign = 1; // Either 1, 0 or -1 
int buttonState = 0;
void setup()
{
 Serial.begin(9600);
 stepper.setMaxSpeed(1000);
 stepper.setSpeed(1000);
}
void loop()
{
 char c;
 if (Serial.available()) {
 c = Serial.read();
 if (c == 'f') { // forward
 sign = 1;
 }
 if (c == 'r') { // reverse
 sign = -1;
 }
 if (c == 's') { // stop
 sign = 0;
 }
 if (c == '1') { // super slow
 spd = 100;
 }
 if (c == '2') { // medium
 spd = 900;
 }
 if (c == '3') { // fast
 spd = 1000;
 }
 if (c == '4') {
 //not working, does anyone know how to do this?
 stepper.moveTo(500);
 }
 stepper.setSpeed(sign * spd);
 }
 stepper.runSpeed();
}

Does anyone have tips or know how to achieve this?

Thanks is advance!

• Gerben: You need to call stepper.run() instead of runSpeed, for moveTo to work.

Answer 1

Gerben's comment:

You need to call stepper.run() instead of runSpeed, for moveTo to work.

provides the answer. The updated code is:

#include <AccelStepper.h>
AccelStepper stepper(1, 5, 4);
int spd = 1000; // The current speed in steps/second
int sign = 1; // Either 1, 0 or -1
int buttonState = 0;
void setup()
{
 Serial.begin(9600);
 stepper.setMaxSpeed(1000);
 stepper.setSpeed(1000);
}
void loop()
{
 char c;
 if (Serial.available()) {
 c = Serial.read();
 if (c == 'f') { // forward
 sign = 1;
 }
 if (c == 'r') { // reverse
 sign = -1;
 }
 if (c == 's') { // stop
 sign = 0;
 }
 if (c == '1') { // super slow
 spd = 100;
 }
 if (c == '2') { // medium
 spd = 900;
 }
 if (c == '3') { // fast
 spd = 1000;
 }
 if (c == '4') {
 //not working, does anyone know how to do this?
 stepper.moveTo(500);
 }
 stepper.setSpeed(sign * spd);
 }
 stepper.run(); //You need to call stepper.run() instead of runSpeed, for moveTo to work. – Gerben
}