beginMpg()

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#include "Motion86.h"

#include "Encoder.h"

// Generate machine objects. You can use up to three machines, machine 0~2, each with three axes.

Machine machine(0);

// Stepper Motor enable pin。

int EnablePin = 4;

void setup() {

  while (!Serial);

  // In this example, the hand wheel has been installed on Enc3.

  Enc3.begin(MODE_AB_PHASE);

  pinMode(EnablePin, OUTPUT);

  // If necessary, the direction of motion of the axis can be reversed.

  // In this example, you need to reverse the direction of the x-axis and the y-axis.

  machine.config_ReverseDirection(AXIS_X);

  machine.config_ReverseDirection(AXIS_Y);

  // PPU (pulse per unit) is a virtual unit of length, depending on different needs.

  // In this example, the unit length of the x-axis is set to 80 pulses, which corresponds to 1 mm in actual application.

  machine.config_PPU(AXIS_X, 80.0);

  machine.config_PPU(AXIS_Y, 80.0);

  machine.config_PPU(AXIS_Z, 1600.0);

  // Before controlling, the machine must be started.

  machine.machineOn();

  // Use Enc3 to trigger Mpg control.

  machine.beginMpg(Enc3);

  // Select the target axis to be controlled by the Mpg handwheel.

  machine.setMpgAxis(AXIS_X);

  // machine.setMpgAxis(AXIS_Y);

  // machine.setMpgAxis(AXIS_Z);

  // Feed rate in Mpg mode.

  machine.setMpgSpeed(600);

  // MpgRatio refers to the ratio of the moving distance of the handwheel to the machine, and the parameter value should be greater than 0.

  machine.setMpgRatio(1);

  // Start the stepper motor.

  digitalWrite(EnablePin, LOW);

}

void loop() {

  Serial.print("Mpg position = ");

  Serial.print(machine.getJogPos(AXIS_X));

  Serial.print(", ");

  Serial.print(machine.getJogPos(AXIS_Y));

  Serial.print(", ");

  Serial.println(machine.getJogPos(AXIS_Z));

  delay(500);

}