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extras/idf_examples/UsageExample/UsageExample.cpp

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+#include "FastAccelStepper.h"
+
+#include <cinttypes>
+
+// As in StepperDemo for Motor 1 on ESP32
+#define dirPinStepper 18
+#define enablePinStepper 26
+#define stepPinStepper 17
+
+FastAccelStepperEngine engine = FastAccelStepperEngine();
+FastAccelStepper *stepper = NULL;
+
+void setup() {
+  printf("START\n");
+
+  engine.init(0);
+
+  printf("Engine initialized\n");
+
+  for (uint8_t i = 0; i < 10; i++) {
+    printf("LOOP %d\n", i);
+    vTaskDelay(pdMS_TO_TICKS(500));
+    //    esp_task_wdt_reset();
+  }
+  stepper = engine.stepperConnectToPin(stepPinStepper);
+
+  printf("Stepper connected\n");
+  for (uint8_t i = 0; i < 10; i++) {
+    printf("LOOP %d\n", i);
+    vTaskDelay(pdMS_TO_TICKS(500));
+    //    esp_task_wdt_reset();
+  }
+
+  if (stepper) {
+    stepper->setDirectionPin(dirPinStepper);
+    stepper->setEnablePin(enablePinStepper);
+    stepper->setAutoEnable(true);
+
+    // If auto enable/disable need delays, just add (one or both):
+    // stepper->setDelayToEnable(50);
+    // stepper->setDelayToDisable(1000);
+
+    stepper->setSpeedInUs(1000);  // the parameter is us/step !!!
+    stepper->setAcceleration(100);
+
+#ifdef SUPPORT_ESP32_PULSE_COUNTER
+    stepper->attachToPulseCounter(7);
+#endif
+
+    printf("Stepper initialized\n");
+  } else {
+    printf("No stepper\n");
+  }
+}
+
+extern "C" void app_main() {
+  setup();
+  int32_t target = 0;
+  while (true) {
+    while (stepper->isRunning()) {
+      //      esp_task_wdt_reset();
+      printf("pos=%" PRId32, stepper->getCurrentPosition());
+#ifdef SUPPORT_ESP32_PULSE_COUNTER
+      int16_t pcnt = stepper->readPulseCounter();
+      printf("  pcnt=%d", pcnt);
+#endif
+      printf("\n");
+      vTaskDelay(pdMS_TO_TICKS(500));
+    }
+    printf("done\n");
+    vTaskDelay(pdMS_TO_TICKS(500));
+    printf("move\n");
+    target = 1000 - target;
+    stepper->moveTo(target);
+  }
+  // WARNING: if program reaches end of function app_main() the MCU will
+  // restart.
+}