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Reference > Libraries > Arduino embryo 2 > Tostepxy

Arduino_EMBRYO_2 - toStepXY()

Moves the EMBRYO 2 educational modular machine the X and the Y carriages to a specified step count in each axis. Zero is in the motor home position and max number of steps is in the axis end far from the motor home.

Syntax

robot.toStepXY(stepX, stepY)

Parameters

  • stepX: X-axis position in step counts with home equals to zero
  • stepY: Y-axis position in step counts with home equals to zero

Example

#include <Arduino_EMBRYO_2.h>

StepMotor axisX(1, A5, 5, 6, 3, 4, A1, A2, 2, 12);

StepMotor axisY(2, A5, 10, 11, 8, 9, A3, A4, 2, 12);

Embryo robot(axisX, axisY, 2, 12);

unsigned long stepNumX = 0, stepNumY = 0;

void setup() {
  Serial.begin(115200);
  while (!Serial) {};

  robot.begin();

  Serial.println("Press the Start Button to start the machine");
  while(!robot.ready());
}
void loop() {
  Serial.println("Enter the number of the step for X-axis: ");
  while((Serial.available() <= 0)){};
  stepNumX = Serial.parseInt(); 

  
  Serial.println("Enter the number of the step for Y-axis: ");
  while((Serial.available() <= 0)){};
  stepNumY = Serial.parseInt(); 

  robot.toStepXY(stepNumX, stepNumY);
}

See also