Got all the motors sequenced independantly. I tweaked the stepper library so that it won’t block the main Arduino loop, and wrote a wrapper for the servo lib so I can control the speed. Tom came in and implemented the sequencing. Now I can say at what time I want what motor to do what!
Walking home, I thought it wouldn’t be too much of a streach to implement pwm on the remaining pins. I would just have to integrate it with the servo.h library—I need to share the same timers. It would probably be no more difficult than adding a second Arduino board. Now, however I have four pins available for each stepper. If I do the lighting on this board I’ll have to do two wires per stepper, which means the steppers will be on all the time. I should see if this seems like a problem for the big steppers—right now it seems OK.
Got collision detection working for the iPhone app.
