如何中止函数RunToPosition - AccelStepper / Arduino

Question

我编写了用串口控制步进电机的短测试代码(使用AccelStepper库)。该代码使用三个命令M-移动电机到定义位置，H-中止操作和P-检查当前电机的步进位置。每个赞扬都必须以"#“结尾。因此，当我写M500#时，意味着电机将开始运动，直到达到500。我的问题/问题是如何中止此操作？串口被阻塞，直到RunToPosiotion函数完成。

#include <AccelStepper.h>
#include <MultiStepper.h>

AccelStepper stepper = AccelStepper(AccelStepper::HALF4WIRE, 4, 5, 6, 7);
String MyString;
String Command;
int Value;


void setup() {
  Serial.begin(57600);
  stepper.setMaxSpeed(400);
  stepper.setAcceleration(600);
  stepper.setCurrentPosition(100);
  }

void serialEvent() {
    while (Serial.available()) {
        char inChar = (char)Serial.read();
        if (inChar == '#') {
            SerialCommand(MyString);
            MyString = "";
        }
        else {
            MyString += inChar;
        }
    }
}

void loop() {
    }

void SerialCommand(String ASCOM_Command) {
    Command = String(ASCOM_Command.charAt(0));
    String Txt_Value = ASCOM_Command.substring(1);
    Value = Txt_Value.toInt();

    /*Commands, an example: M500# - start motor to move until get  500 position 
    P - check actual focuser position
    M - Move to specific position called by client application
    H - Halt / Abort
    */
    switch (ASCOM_Command.charAt(0))    {

    case 'P':
        Serial.println(stepper.currentPosition()); 
        break;

    case 'M':
        stepper.moveTo(Value);
        stepper.runToPosition();
        break;
    case 'H':
        stepper.stop();
        Serial.println("H#");
        break;
    }
}

Answer 1

阅读accelstepper并遵循runtoPosition的提示：

    Dont use this in event loops, since it blocks. 

相反，请看一看run()：

保持循环()快速，每次只调用run()。