johnny-five

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If I try to give my stepper a second command after the first one, then it usually just stops moving and says complainy sounds. I found a way around that by calling board.io.accelStepperStop(id) and setting in a 100ms delay, but that adds a small delay, not a big deal, unless maybe once it takes more than 100ms to stop the servo, then it'll bugger up. I may be trying to solve the problem in the wrong way though, if that's the case, please let me know xD

There is already a way. When you call stop, after decelerating and stopping firmata will report back from the board with STEPPER_MOVE_COMPLETE and the stepper's position. The board instance will emit stepper-done-# where # is the stepper number. It will receive the stepper's current position as its only parameter.

Not tested, but here's the gist.

function stopThenDo(stepper, callback) {
  
  board.io.once(`stepper-done-${stepper}`, position => {
    callback(position);
  });

  board.io.accelStepperStop(stepper);

}

// Stop stepper 2 and report position after reaching a complete stop
stopThenDo(2, position => {
  console.log(`Stopped at position ${position}`);
});